Foot presence sensing using magnets in footwear

ABSTRACT

An article of footwear can include a ferromagnetic body disposed in the article, and a magnetometer to measure a strength or direction of a magnetic field that is influenced by a position of the ferromagnetic body. One of the ferromagnetic body and the magnetometer can be configured to move relative to the other one of the ferromagnetic body and the magnetometer, for example according to movement of a foot in the article. In an example, the ferromagnetic body is disposed in a compressible insole and the ferromagnetic body moves in response to compression or relaxation of the insole. The magnetometer can be disposed in a platform or sole portion of the article that is relatively stationary compared to the ferromagnetic body. Rate of change information about the magnetic field can be used to control article functions or to provide information about a foot strike or step rate.

CLAIM OF PRIORITY

This application is a continuation of U.S. patent application Ser. No.15/459,402, filed Mar. 15, 2017, which application claims the benefit ofpriority of Walker et al., U.S. Provisional Patent Application Ser. No.62/308,657 (Attorney Docket No. 4228.054PRV), entitled “MAGNETIC ANDPRESSURE-BASED FOOT PRESENCE AND POSITION SENSING SYSTEMS AND METHODSFOR ACTIVE FOOTWEAR,” filed on Mar. 15, 2016, and of Walker et al., U.S.Provisional Patent Application Ser. No. 62/308,667 (Attorney Docket No.4228.074PRV), entitled “CAPACITIVE FOOT PRESENCE AND POSITION SENSINGSYSTEMS AND METHODS FOR ACTIVE FOOTWEAR,” filed on Mar. 15, 2016, and ofWalker, Steven H., U.S. Provisional Patent Application Ser. No.62/424,939 (Attorney Docket No. 4228.081PRV), entitled “CAPACITIVE FOOTPRESENCE SENSING FOR FOOTWEAR,” filed on Nov. 21, 2016, and of Walker,Steven H., U.S. Provisional Patent Application Ser. No. 62/424,959(Attorney Docket No. 4228.093PRV), entitled “FOOT PRESENCE AND IMPACTRATE OF CHANGE FOR ACTIVE FOOTWEAR,” filed on Nov. 21, 2016, each ofwhich is herein incorporated by reference.

BACKGROUND

Various shoe-based sensors have been proposed to monitor variousconditions. For example, Brown, in U.S. Pat. No. 5,929,332, titled“Sensor shoe for monitoring the condition of a foot”, provides severalexamples of shoe-based sensors. Brown mentions a foot force sensor caninclude an insole made of layers of relatively thin, planar, flexible,resilient, dielectric material. The foot force sensor can includeelectrically conductive interconnecting means that can have anelectrical resistance that decreases as a compressive force applied toit increases.

Brown further discusses a shoe to be worn by diabetic persons, orpersons afflicted with various types of foot maladies, where excesspressure exerted upon a portion of the foot tends to give rise toulceration. The shoe body can include a force sensing resistor, and aswitching circuit coupled to the resistor can activate an alarm unit towarn a wearer that a threshold pressure level is reached or exceeded.

Brown also mentions a sensor disposed in a contained liquid mass of ahydrocell carried in a shoe's inner sole, the sensor being one thatdetects both pressure and temperature values to which a patient's feetare exposed. The sensor can include a circuit comprised of fourpiezoresistors arranged in diagonally arrayed pairs, the resistance ofone pair of resistors increasing and the resistance of the second pairdecreasing in the presence of an increase in the pressure condition inthe hydrocell, and the resistance of all the resistors increasing ordecreasing responsive to respective increases and decreases oftemperature in the hydrocell. Outputs from the circuit can indicaterespective pressure and temperature value changes. Brown mentions that agrid array sensor can detect localized pressure changes on a foot bottomby reducing the resistance between conductors present at the location ofthe increases in pressure. The decreased resistance can cause anincrease in current flow between the conductors that is detected by aprocessor, and the processor in turn can provide an indication of anincreased pressure condition.

Devices for automatically tightening an article of footwear have beenpreviously proposed. Liu, in U.S. Pat. No. 6,691,433, titled “Automatictightening shoe”, provides a first fastener mounted on a shoe's upperportion, and a second fastener connected to a closure member and capableof removable engagement with the first fastener to retain the closuremember at a tightened state. Liu teaches a drive unit mounted in theheel portion of the sole. The drive unit includes a housing, a spoolrotatably mounted in the housing, a pair of pull strings and a motorunit. Each string has a first end connected to the spool and a secondend corresponding to a string hole in the second fastener. The motorunit is coupled to the spool. Liu teaches that the motor unit isoperable to drive rotation of the spool in the housing to wind the pullstrings on the spool for pulling the second fastener towards the firstfastener. Liu also teaches a guide tube unit that the pull strings canextend through.

BRIEF DESCRIPTION OF THE DRAWINGS

In the drawings, which are not necessarily drawn to scale, like numeralsmay describe similar components in different views. Like numerals havingdifferent letter suffixes may represent different instances of similarcomponents. The drawings illustrate generally, by way of example, butnot by way of limitation, various embodiments discussed in the presentdocument.

FIG. 1 is an exploded view illustration of components of a motorizedlacing system, according to some example embodiments.

FIGS. 2A-2N are diagrams and drawings illustrating a motorized lacingengine, according to some example embodiments.

FIGS. 3A-3D are diagrams and drawings illustrating an actuator forinterfacing with a motorized lacing engine, according to some exampleembodiments.

FIGS. 4A-4D are diagrams and drawings illustrating a mid-sole plate forholding a lacing engine, according to some example embodiments.

FIGS. 5A-5D are diagrams and drawings illustrating a mid-sole andout-sole to accommodate a lacing engine and related components,according to some example embodiments.

FIGS. 6A-6D are illustrations of a footwear assembly including amotorized lacing engine, according to some example embodiments.

FIG. 7 is a flowchart illustrating a footwear assembly process forassembly of footwear including a lacing engine, according to someexample embodiments.

FIGS. 8A-8B is a drawing and a flowchart illustrating an assemblyprocess for assembly of a footwear upper in preparation for assembly tomid-sole, according to some example embodiments.

FIG. 9 is a drawing illustrating a mechanism for securing a lace withina spool of a lacing engine, according to some example embodiments.

FIG. 10A is a block diagram illustrating components of a motorizedlacing system, according to some example embodiments.

FIG. 10B is a flowchart illustrating an example of using foot presenceinformation from a sensor.

FIG. 11A-11D are diagrams illustrating a motor control scheme for amotorized lacing engine, according to some example embodiments.

FIGS. 12A-12D are block diagrams illustrating magnet-based foot presencesensor configurations.

FIGS. 12E and 12F illustrate charts showing time-varying informationfrom a magnetometer.

FIG. 12G illustrates generally an example of a method that includesinitiating an active footwear response to a magnetometer signal.

FIG. 13 is a diagram illustrating pressure distribution data for anominal or average foot (left) and for a high arch foot (right) in afootwear article when a user of the article is standing.

FIGS. 14A and 14B illustrate diagrams showing a bridge component orpressure plate for use with a magnetic sensor.

FIGS. 15A-15C illustrate test data associated with magnet-based footpresence sensor configurations with a magnet pole oriented along anx-axis.

FIGS. 15D-15F illustrate test data associated with magnet-based footpresence sensor configurations with a magnet pole oriented along ay-axis.

FIGS. 15G-15I illustrate test data associated with magnet-based footpresence sensor configurations with a magnet pole oriented along az-axis.

FIGS. 16A-16B illustrate magnetic field strength test data for arectangular magnet.

FIGS. 16C-16F illustrate magnetic field strength test data for a firstcircular magnet.

FIGS. 17A-17D illustrate magnetic field strength test data for a firstcircular magnet.

FIG. 18 illustrates a block diagram of a capacitor-based foot presencesensor.

FIG. 19 illustrates generally an example of an electrode configurationfor a capacitor-based foot presence sensor.

FIGS. 20A-20C illustrate generally examples of capacitor-based footpresence sensors.

FIGS. 21A and 21B illustrate generally examples of a pressure-based footpresence sensor configuration.

The headings provided herein are merely for convenience and do notnecessarily affect the scope or meaning of the terms used.

DETAILED DESCRIPTION

The concept of self-tightening shoe laces was first widely popularizedby the fictitious power-laced Nike® sneakers worn by Marty McFly in themovie Back to the Future II, which was released back in 1989. WhileNike® has since released at least one version of power-laced sneakerssimilar in appearance to the movie prop version from Back to the FutureII, the internal mechanical systems and surrounding footwear platformemployed do not necessarily lend themselves to mass production or dailyuse. Additionally, previous designs for motorized lacing systemscomparatively suffered from problems such as high cost of manufacture,complexity, assembly challenges, lack of serviceability, and weak orfragile mechanical mechanisms, to highlight just a few of the manyissues. The present inventors have developed a modular footwear platformto accommodate motorized and non-motorized lacing engines that solvessome or all of the problems discussed above, among others. Thecomponents discussed below provide various benefits including, but notlimited to: serviceable components, interchangeable automated lacingengines, robust mechanical design, reliable operation, streamlinedassembly processes, and retail-level customization. Various otherbenefits of the components described below will be evident to persons ofskill in the relevant arts.

The motorized lacing engine discussed below was developed from theground up to provide a robust, serviceable, and inter-changeablecomponent of an automated lacing footwear platform. The lacing engineincludes unique design elements that enable retail-level final assemblyinto a modular footwear platform. The lacing engine design allows forthe majority of the footwear assembly process to leverage known assemblytechnologies, with unique adaptions to standard assembly processes stillbeing able to leverage current assembly resources.

In an example, the modular automated lacing footwear platform includes amid-sole plate secured to the mid-sole for receiving a lacing engine.The design of the mid-sole plate allows a lacing engine to be droppedinto the footwear platform as late as at a point of purchase. Themid-sole plate, and other aspects of the modular automated footwearplatform, allow for different types of lacing engines to be usedinterchangeably. For example, the motorized lacing engine discussedbelow could be changed out for a human-powered lacing engine.Alternatively, a fully-automatic motorized lacing engine with footpresence sensing or other optional features could be accommodated withinthe standard mid-sole plate.

The automated footwear platform discussed herein can include an outsoleactuator interface to provide tightening control to the end user as wellas visual feedback through LED lighting projected through translucentprotective outsole materials. The actuator can provide tactile andvisual feedback to the user to indicate status of the lacing engine orother automated footwear platform components.

This initial overview is intended to introduce the subject matter of thepresent patent application. It is not intended to provide an exclusiveor exhaustive explanation of the various inventions disclosed in thefollowing more detailed description.

The following discusses various components of the automated footwearplatform including a motorized lacing engine, a mid-sole plate, andvarious other components of the platform. While much of this disclosurefocuses on a motorized lacing engine, many of the mechanical aspects ofthe discussed designs are applicable to a human-powered lacing engine orother motorized lacing engines with additional or fewer capabilities.

Accordingly, the term “automated” as used in “automated footwearplatform” is not intended to only cover a system that operates withoutuser input. Rather, the term “automated footwear platform” includesvarious electrically powered and human-power, automatically activatedand human activated mechanisms for tightening a lacing or retentionsystem of the footwear.

FIG. 1 is an exploded view illustration of components of a motorizedlacing system for footwear, according to some example embodiments. Themotorized lacing system 1 illustrated in FIG. 1 includes a lacing engine10, a lid 20, an actuator 30, a mid-sole plate 40, a mid-sole 50, and anoutsole 60. FIG. 1 illustrates the basic assembly sequence of componentsof an automated lacing footwear platform. The motorized lacing system 1starts with the mid-sole plate 40 being secured within the mid-sole.Next, the actuator 30 is inserted into an opening in the lateral side ofthe mid-sole plate opposite to interface buttons that can be embedded inthe outsole 60. Next, the lacing engine 10 is dropped into the mid-soleplate 40. In an example, the lacing system 1 is inserted under acontinuous loop of lacing cable and the lacing cable is aligned with aspool in the lacing engine 10 (discussed below). Finally, the lid 20 isinserted into grooves in the mid-sole plate 40, secured into a closedposition, and latched into a recess in the mid-sole plate 40. The lid 20can capture the lacing engine 10 and can assist in maintaining alignmentof a lacing cable during operation.

In an example, the footwear article or the motorized lacing system 1includes or is configured to interface with one or more sensors that canmonitor or determine a foot presence characteristic. Based oninformation from one or more foot presence sensors, the footwearincluding the motorized lacing system 1 can be configured to performvarious functions. For example, a foot presence sensor can be configuredto provide binary information about whether a foot is present or notpresent in the footwear. If a binary signal from the foot presencesensor indicates that a foot is present, then the motorized lacingsystem 1 can be activated, such as to automatically tighten or relax(i.e., loosen) a footwear lacing cable. In an example, the footweararticle includes a processor circuit that can receive or interpretsignals from a foot presence sensor. The processor circuit canoptionally be embedded in or with the lacing engine 10, such as in asole of the footwear article.

In an example, a foot presence sensor can be configured to provideinformation about a location of a foot as it enters footwear. Themotorized lacing system 1 can generally be activated, such as to tightena lacing cable, only when a foot is appropriately positioned or seatedin the footwear, such as against all or a portion of the footweararticle's sole. A foot presence sensor that senses information about afoot travel or location can provide information about whether a foot isfully or partially seated, such as relative to a sole or relative tosome other feature of the footwear article. Automated lacing procedurescan be interrupted or delayed until information from the sensorindicates that a foot is in a proper position.

In an example, a foot presence sensor can be configured to provideinformation about a relative location of a foot inside of footwear. Forexample, the foot presence sensor can be configured to sense whether thefootwear is a good “fit” for a given foot, such as by determining arelative position of one or more of a foot's arch, heel, toe, or othercomponent, such as relative to the corresponding portions of thefootwear that are configured to receive such foot components. In anexample, the foot presence sensor can be configured to sense whether aposition of a foot or a foot component has changed relative to somereference, such as due to loosening of a lacing cable over time, or dueto natural expansion and contraction of a foot itself.

In an example, a foot presence sensor can include an electrical,magnetic, thermal, capacitive, pressure, optical, or other sensor devicethat can be configured to sense or receive information about a presenceof a body. For example, an electrical sensor can include an impedancesensor that is configured to measure an impedance characteristic betweenat least two electrodes. When a body such as a foot is located proximalor adjacent to the electrodes, the electrical sensor can provide asensor signal having a first value, and when a body is located remotelyfrom the electrodes, the electrical sensor can provide a sensor signalhaving a different second value. For example, a first impedance valuecan be associated with an empty footwear condition, and a lesser secondimpedance value can be associated with an occupied footwear condition.In an example, the electrical sensor can be configured to provide abinary signal or interrupt signal when a foot is determined to be, ordetermined to be likely to be, present within the footwear. For example,when a measured electrical characteristic (e.g., capacitance,resistance, impedance, etc.) exceeds a specified threshold or referencevalue, the binary signal or interrupt signal can be asserted.

An electrical sensor can include an AC signal generator circuit and anantenna that is configured to emit or receive radio frequencyinformation. Based on proximity of a body relative to the antenna, oneor more electrical signal characteristics, such as impedance, frequency,or signal amplitude, can be received and analyzed to determine whether abody is present. In an example, a received signal strength indicator(RSSI) provides information about a power level in a received radiosignal. Changes in the RSSI, such as relative to some baseline orreference value, can be used to identify a presence or absence of abody.

In an example, WiFi frequencies can be used, for example in one or moreof 2.4 GHz, 3.6 GHz, 4.9 GHz, 5 GHz, and 5.9 GHz bands. In an example,frequencies in the kilohertz range can be used, for example, around 400kHz. In an example, power signal changes can be detected in milliwatt ormicrowatt ranges.

A foot presence sensor can include a magnetic sensor. A first magneticsensor can include a magnet and a magnetometer, or a magnetometer and amaterial that can be sensed by the magnetometer. In an example, amagnetometer can be positioned in or near the lacing engine 10. Amagnet, or other material that evokes a response by the magnetometer,can be located remotely from the lacing engine 10, such as in asecondary sole, or insole, that is configured to be worn above theoutsole 60. In an example, the magnet is embedded in a foam or othercompressible material of the secondary sole. As a user depresses thesecondary sole such as when standing or walking, corresponding changesin the location of the magnet relative to the magnetometer can be sensedand reported via a sensor signal.

A second magnetic sensor can include a magnetic field sensor that isconfigured to sense changes or interruptions (e.g., via the Hall effect)in a magnetic field. When a body is proximal to the second magneticsensor, the sensor can generate a signal that indicates a change to anambient magnetic field. For example, the second magnetic sensor caninclude a Hall effect sensor that varies a voltage output signal inresponse to variations in a detected magnetic field. Voltage changes atthe output signal can be due to production of a voltage differenceacross an electric signal conductor, such as transverse to an electriccurrent in the conductor and a magnetic field perpendicular to thecurrent.

In an example, the second magnetic sensor is configured to receive anelectromagnetic field signal from a body. For example, Varshavsky etal., in U.S. Pat. No. 8,752,200, titled “Devices, systems and methodsfor security using magnetic field based identification”, teaches using abody's unique electromagnetic signature for authentication. In anexample, a magnetic sensor in a footwear article can be used toauthenticate or verify that a present user is a shoe's owner via adetected electromagnetic signature, and that the article should laceautomatically, such as according to one or more specified lacingpreferences (e.g., tightness profile) of the owner.

In an example, a foot presence sensor includes a thermal sensor that isconfigured to sense a change in temperature in or near a portion of thefootwear. When a wearer's foot enters a footwear article, the article'sinternal temperature changes when the wearer's own body temperaturediffers from an ambient temperature of the footwear article. Thus thethermal sensor can provide an indication that a foot is likely topresent or not based on a temperature change.

In an example, a foot presence sensor includes a capacitive sensor thatis configured to sense a change in capacitance. The capacitive sensorcan include a single plate or electrode, or the capacitive sensor caninclude a multiple-plate or multiple-electrode configuration.Capacitive-type foot presence sensors are described at length below.

In an example, a foot presence sensor includes an optical sensor. Theoptical sensor can be configured to determine whether a line-of-sight isinterrupted, such as between opposite sides of a footwear cavity. In anexample, the optical sensor includes a light sensor that can be coveredby a foot when the foot is inserted into the footwear. When the sensorindicates a change in a sensed lightness condition, an indication of afoot presence or position can be provided.

In an example, the motorized lacing system 1 of FIG. 1 includes themid-sole 50, and the lacing engine 10. The system 1 can include aninsole over the mid-sole and/or the lacing engine 10, such as to improvecomfort or fit for a wearer of the footwear. A plurality of straps orlaces can be adjusted by the lacing engine 10, such as to adjust atightness or looseness characteristic of the article about a foot whenthe article is worn. That is, the plurality of straps or laces can beconfigured to move between tightened and loosened positions in responseto activity of a motor in the lacing engine 10. In an example, thesystem 1 includes a ferromagnetic body disposed in the article, and atleast one sensor configured to sense a location change of theferromagnetic body in response to compression of the insole by a footwhen the article is worn. The ferromagnetic body can be disposed, forexample, in or on the insole such that when a wearer takes a step orstands, a compressive force of the wearer's foot on the insole moves theferromagnetic body. Although referred to herein as a ferromagnetic body,the body can be any material that is detectable by, or whose movement isdetectable by, the sensor. In an example, the lacing engine 10 can becoupled to the sensor and the lacing engine 10 can be configured torespond to a sensed change in the location of the ferromagnetic body byadjusting a tension of the straps or laces.

The sensor can include a magnetometer that is configured to sense achange in a magnetic field. The magnetic field change can be due atleast in part to a location change of the ferromagnetic body, such as inresponse to movement of the footwear or of a foot within the footwear.In an example, one of the ferromagnetic body and the magnetometer issubstantially fixed relative to a housing or wall of the article, andthe other one of the ferromagnetic body and the magnetometer is movablewith respect to the housing or wall of the article. For example, theferromagnetic body can be disposed in the insole and movable in responseto compressive foot forces, and a position of the magnetometer can besubstantially fixed in the mid-sole or in the lacing engine 10.

In an example, information about the change in the location of theferromagnetic body can be sensed and used to determine variouscharacteristics of circumstances of the article's use. For example,information about a changing magnetic field can be sensed by themagnetometer in response to movement of the ferromagnetic body. Large orrapid changes in the magnetic field can indicate the ferromagnetic bodyis moving quickly or by a great distance, thus indicating that a weareris exerting a substantial force on the footwear such as due to a runningor jumping activity. Timing information about the sensed magnetic fieldor location changes of the ferromagnetic body can be used to determine afoot strike timing, such as to count steps or to determine how quicklythe wearer is moving (e.g., when stride information is known ordiscernable).

Examples of the lacing engine 10 are described in detail in reference toFIGS. 2A-2N. Examples of the actuator 30 are described in detail inreference to FIGS. 3A-3D. Examples of the mid-sole plate 40 aredescribed in detail in reference to FIGS. 4A-4D. Various additionaldetails of the motorized lacing system 1 are discussed throughout theremainder of the description.

FIGS. 2A-2N are diagrams and drawings illustrating a motorized lacingengine, according to some example embodiments. FIG. 2A introducesvarious external features of an example lacing engine 10, including ahousing structure 100, case screw 108, lace channel 110 (also referredto as lace guide relief 110), lace channel wall 112, lace channeltransition 114, spool recess 115, button openings 120, buttons 121,button membrane seal 124, programming header 128, spool 130, and lacegrove 132. Additional details of the housing structure 100 are discussedbelow in reference to FIG. 2B.

In an example, the lacing engine 10 is held together by one or morescrews, such as the case screw 108. The case screw 108 is positionednear the primary drive mechanisms to enhance structural integrity of thelacing engine 10. The case screw 108 also functions to assist theassembly process, such as holding the case together for ultra-sonicwelding of exterior seams.

In this example, the lacing engine 10 includes a lace channel 110 toreceive a lace or lace cable once assembled into the automated footwearplatform. The lace channel 110 can include a lace channel wall 112. Thelace channel wall 112 can include chamfered edges to provide a smoothguiding surface for a lace cable to run in during operation. Part of thesmooth guiding surface of the lace channel 110 can include a channeltransition 114, which is a widened portion of the lace channel 110leading into the spool recess 115. The spool recess 115 transitions fromthe channel transition 114 into generally circular sections that conformclosely to the profile of the spool 130. The spool recess 115 assists inretaining the spooled lace cable, as well as in retaining position ofthe spool 130. However, other aspects of the design provide primaryretention of the spool 130. In this example, the spool 130 is shapedsimilarly to half of a yo-yo with a lace grove 132 running through aflat top surface and a spool shaft 133 (not shown in FIG. 2A) extendinginferiorly from the opposite side. The spool 130 is described in furtherdetail below in reference of additional figures.

The lateral side of the lacing engine 10 includes button openings 120that enable buttons 121 for activation of the mechanism to extendthrough the housing structure 100. The buttons 121 provide an externalinterface for activation of switches 122, illustrated in additionalfigures discussed below. In some examples, the housing structure 100includes button membrane seal 124 to provide protection from dirt andwater. In this example, the button membrane seal 124 is up to a few mils(thousandth of an inch) thick clear plastic (or similar material)adhered from a superior surface of the housing structure 100 over acorner and down a lateral side. In another example, the button membraneseal 124 is a 2 mil thick vinyl adhesive backed membrane covering thebuttons 121 and button openings 120.

FIG. 2B is an illustration of housing structure 100 including topsection 102 and bottom section 104. In this example, the top section 102includes features such as the case screw 108, lace channel 110, lacechannel transition 114, spool recess 115, button openings 120, andbutton seal recess 126. The button seal recess 126 is a portion of thetop section 102 relieved to provide an inset for the button membraneseal 124. In this example, the button seal recess 126 is a couple milrecessed portion on the lateral side of the superior surface of the topsection 104 transitioning over a portion of the lateral edge of thesuperior surface and down the length of a portion of the lateral side ofthe top section 104.

In this example, the bottom section 104 includes features such aswireless charger access 105, joint 106, and grease isolation wall 109.Also illustrated, but not specifically identified, is the case screwbase for receiving case screw 108 as well as various features within thegrease isolation wall 109 for holding portions of a drive mechanism. Thegrease isolation wall 109 is designed to retain grease or similarcompounds surrounding the drive mechanism away from the electricalcomponents of the lacing engine 10 including the gear motor and enclosedgear box.

FIG. 2C is an illustration of various internal components of lacingengine 10, according to example embodiments. In this example, the lacingengine 10 further includes spool magnet 136, O-ring seal 138, worm drive140, bushing 141, worm drive key 142, gear box 144, gear motor 145,motor encoder 146, motor circuit board 147, worm gear 150, circuit board160, motor header 161, battery connection 162, and wired charging header163. The spool magnet 136 assists in tracking movement of the spool 130though detection by a magnetometer (not shown in FIG. 2C). The o-ringseal 138 functions to seal out dirt and moisture that could migrate intothe lacing engine 10 around the spool shaft 133.

In this example, major drive components of the lacing engine 10 includeworm drive 140, worm gear 150, gear motor 145 and gear box 144. The wormgear 150 is designed to inhibit back driving of worm drive 140 and gearmotor 145, which means the major input forces coming in from the lacingcable via the spool 130 are resolved on the comparatively large wormgear and worm drive teeth. This arrangement protects the gear box 144from needing to include gears of sufficient strength to withstand boththe dynamic loading from active use of the footwear platform ortightening loading from tightening the lacing system. The worm drive 140includes additional features to assist in protecting the more fragileportions of the drive system, such as the worm drive key 142. In thisexample, the worm drive key 142 is a radial slot in the motor end of theworm drive 140 that interfaces with a pin through the drive shaft comingout of the gear box 144. This arrangement prevents the worm drive 140from imparting any axial forces on the gear box 144 or gear motor 145 byallowing the worm drive 140 to move freely in an axial direction (awayfrom the gear box 144) transferring those axial loads onto bushing 141and the housing structure 100.

FIG. 2D is an illustration depicting additional internal components ofthe lacing engine 10. In this example, the lacing engine 10 includesdrive components such as worm drive 140, bushing 141, gear box 144, gearmotor 145, motor encoder 146, motor circuit board 147 and worm gear 150.FIG. 2D adds illustration of battery 170 as well as a better view ofsome of the drive components discussed above.

FIG. 2E is another illustration depicting internal components of thelacing engine 10. In FIG. 2E the worm gear 150 is removed to betterillustrate the indexing wheel 151 (also referred to as the Geneva wheel151). The indexing wheel 151, as described in further detail below,provides a mechanism to home the drive mechanism in case of electricalor mechanical failure and loss of position. In this example, the lacingengine 10 also includes a wireless charging interconnect 165 and awireless charging coil 166, which are located inferior to the battery170 (which is not shown in this figure). In this example, the wirelesscharging coil 166 is mounted on an external inferior surface of thebottom section 104 of the lacing engine 10.

FIG. 2F is a cross-section illustration of the lacing engine 10,according to example embodiments. FIG. 2F assists in illustrating thestructure of the spool 130 as well as how the lace grove 132 and lacechannel 110 interface with lace cable 131. As shown in this example,lace 131 runs continuously through the lace channel 110 and into thelace grove 132 of the spool 130. The cross-section illustration alsodepicts lace recess 135, which is where the lace 131 will build up as itis taken up by rotation of the spool 130. The lace 131 is captured bythe lace groove 132 as it runs across the lacing engine 10, so that whenthe spool 130 is turned, the lace 131 is rotated onto a body of thespool 130 within the lace recess 135.

As illustrated by the cross-section of lacing engine 10, the spool 130includes a spool shaft 133 that couples with worm gear 150 after runningthrough an O-ring 138. In this example, the spool shaft 133 is coupledto the worm gear via keyed connection pin 134. In some examples, thekeyed connection pin 134 only extends from the spool shaft 133 in oneaxial direction, and is contacted by a key on the worm gear in such away as to allow for an almost complete revolution of the worm gear 150before the keyed connection pin 134 is contacted when the direction ofworm gear 150 is reversed. A clutch system could also be implemented tocouple the spool 130 to the worm gear 150. In such an example, theclutch mechanism could be deactivated to allow the spool 130 to run freeupon de-lacing (loosening). In the example of the keyed connection pin134 only extending is one axial direction from the spool shaft 133, thespool is allowed to move freely upon initial activation of a de-lacingprocess, while the worm gear 150 is driven backward. Allowing the spool130 to move freely during the initial portion of a de-lacing processassists in preventing tangles in the lace 131 as it provides time forthe user to begin loosening the footwear, which in turn will tension thelace 131 in the loosening direction prior to being driven by the wormgear 150.

FIG. 2G is another cross-section illustration of the lacing engine 10,according to example embodiments. FIG. 2G illustrates a more medialcross-section of the lacing engine 10, as compared to FIG. 2F, whichillustrates additional components such as circuit board 160, wirelesscharging interconnect 165, and wireless charging coil 166. FIG. 2G isalso used to depict additional detail surround the spool 130 and lace131 interface.

FIG. 2H is a top view of the lacing engine 10, according to exampleembodiments. FIG. 2H emphasizes the grease isolation wall 109 andillustrates how the grease isolation wall 109 surrounds certain portionsof the drive mechanism, including spool 130, worm gear 150, worm drive140, and gear box 145. In certain examples, the grease isolation wall109 separates worm drive 140 from gear box 145. FIG. 2H also provides atop view of the interface between spool 130 and lace cable 131, with thelace cable 131 running in a medial-lateral direction through lace groove132 in spool 130.

FIG. 2I is a top view illustration of the worm gear 150 and index wheel151 portions of lacing engine 10, according to example embodiments. Theindex wheel 151 is a variation on the well-known Geneva wheel used inwatchmaking and film projectors. A typical Geneva wheel or drivemechanism provides a method of translating continuous rotationalmovement into intermittent motion, such as is needed in a film projectoror to make the second hand of a watch move intermittently. Watchmakersused a different type of Geneva wheel to prevent over-winding of amechanical watch spring, but using a Geneva wheel with a missing slot(e.g., one of the Geneva slots 157 would be missing). The missing slotwould prevent further indexing of the Geneva wheel, which wasresponsible for winding the spring and prevents over-winding. In theillustrated example, the lacing engine 10 includes a variation on theGeneva wheel, indexing wheel 151, which includes a small stop tooth 156that acts as a stopping mechanism in a homing operation. As illustratedin FIGS. 2J-2M, the standard Geneva teeth 155 simply index for eachrotation of the worm gear 150 when the index tooth 152 engages theGeneva slot 157 next to one of the Geneva teeth 155. However, when theindex tooth 152 engages the Geneva slot 157 next to the stop tooth 156 alarger force is generated, which can be used to stall the drivemechanism in a homing operation. The stop tooth 156 can be used tocreate a known location of the mechanism for homing in case of loss ofother positioning information, such as the motor encoder 146.

FIG. 2J-2M are illustrations of the worm gear 150 and index wheel 151moving through an index operation, according to example embodiments. Asdiscussed above, these figures illustrate what happens during a singlefull revolution of the worm gear 150 starting with FIG. 2J though FIG.2M. In FIG. 2J, the index tooth 153 of the worm gear 150 is engaged inthe Geneva slot 157 between a first Geneva tooth 155 a of the Genevateeth 155 and the stop tooth 156. FIG. 2K illustrates the index wheel151 in a first index position, which is maintained as the index tooth153 starts its revolution with the worm gear 150. In FIG. 2L, the indextooth 153 begins to engage the Geneva slot 157 on the opposite side ofthe first Geneva tooth 155 a. Finally, in FIG. 2M the index tooth 153 isfully engaged within a Geneva lot 157 between the first Geneva tooth 155a and a second Geneva tooth 155 b. The process shown in FIGS. 2J-2Mcontinues with each revolution of the worm gear 150 until the indextooth 153 engages the stop tooth 156. As discussed above, wen the indextooth 153 engages the stop tooth 156, the increased forces can stall thedrive mechanism.

FIG. 2N is an exploded view of lacing engine 10, according to exampleembodiments. The exploded view of the lacing engine 10 provides anillustration of how all the various components fit together. FIG. 2Nshows the lacing engine 10 upside down, with the bottom section 104 atthe top of the page and the top section 102 near the bottom. In thisexample, the wireless charging coil 166 is shown as being adhered to theoutside (bottom) of the bottom section 104. The exploded view alsoprovide a good illustration of how the worm drive 140 is assembled withthe bushing 141, drive shaft 143, gear box 144 and gear motor 145. Theillustration does not include a drive shaft pin that is received withinthe worm drive key 142 on a first end of the worm drive 140. Asdiscussed above, the worm drive 140 slides over the drive shaft 143 toengage a drive shaft pin in the worm drive key 142, which is essentiallya slot running transverse to the drive shaft 143 in a first end of theworm drive 140.

In an example, the housing structure 100 provides an airtight orhermetic seal around the components that are enclosed by the housingstructure 100. In an example, the housing structure 100 encloses aseparate, hermetically sealed cavity in which a pressure sensor can bedisposed. See FIG. 17 and the corresponding discussion below regarding apressure sensor disposed in a sealed cavity.

FIGS. 3A-3D illustrate generally examples of an actuator 30 forinterfacing with a motorized lacing engine, according to an exampleembodiment. In this example, the actuator 30 includes features such asbridge 310, light pipe 320, posterior arm 330, central arm 332, andanterior arm 334. FIG. 3A also illustrates related features of lacingengine 10, such as LEDs 340 (also referenced as LED 340), buttons 121and switches 122. In this example, the posterior arm 330 and anteriorarm 334 each can separately activate one of the switches 122 throughbuttons 121. The actuator 30 is also designed to enable activation ofboth switches 122 simultaneously, for things like reset or otherfunctions. The primary function of the actuator 30 is to providetightening and loosening commands to the lacing engine 10. The actuator30 also includes a light pipe 320 that directs light from LEDs 340 outto the external portion of the footwear platform (e.g., outsole 60). Thelight pipe 320 is structured to disperse light from multiple individualLED sources evening across the face of actuator 30.

In this example, the arms of the actuator 30, posterior arm 330 andanterior arm 334, include flanges to prevent over activation of switches122 providing a measure of safety against impacts against the side ofthe footwear platform. The large central arm 332 is also designed tocarry impact loads against the side of the lacing engine 10, instead ofallowing transmission of these loads against the buttons 121.

FIG. 3B provides a side view of the actuator 30, which furtherillustrates an example structure of anterior arm 334 and engagement withbutton 121. FIG. 3C is an additional top view of actuator 30illustrating activation paths through posterior arm 330 and anterior arm334. FIG. 3C also depicts section line A-A, which corresponds to thecross-section illustrated in FIG. 3D. In FIG. 3D, the actuator 30 isillustrated in cross-section with transmitted light 345 shown in dottedlines. The light pipe 320 provides a transmission medium for transmittedlight 345 from LEDs 340. FIG. 3D also illustrates aspects of outsole 60,such as actuator cover 610 and raised actuator interface 615.

FIGS. 4A-4D are diagrams and drawings illustrating a mid-sole plate 40for holding lacing engine 10, according to some example embodiments. Inthis example, the mid-sole plate 40 includes features such as lacingengine cavity 410, medial lace guide 420, lateral lace guide 421, lidslot 430, anterior flange 440, posterior flange 450, a superior surface460, an inferior surface 470, and an actuator cutout 480. The lacingengine cavity 410 is designed to receive lacing engine 10. In thisexample, the lacing engine cavity 410 retains the lacing engine 10 islateral and anterior/posterior directions, but does not include anybuilt in feature to lock the lacing engine 10 in to the pocket.Optionally, the lacing engine cavity 410 can include detents, tabs, orsimilar mechanical features along one or more sidewalls that couldpositively retain the lacing engine 10 within the lacing engine cavity410.

The medial lace guide 420 and lateral lace guide 421 assist in guidinglace cable into the lace engine pocket 410 and over lacing engine 10(when present). The medial/lateral lace guides 420, 421 can includechamfered edges and inferiorly slated ramps to assist in guiding thelace cable into the desired position over the lacing engine 10. In thisexample, the medial/lateral lace guides 420, 421 include openings in thesides of the mid-sole plate 40 that are many times wider than thetypical lacing cable diameter, in other examples the openings for themedial/lateral lace guides 420, 421 may only be a couple times widerthan the lacing cable diameter.

In this example, the mid-sole plate 40 includes a sculpted or contouredanterior flange 440 that extends much further on the medial side of themid-sole plate 40. The example anterior flange 440 is designed toprovide additional support under the arch of the footwear platform.However, in other examples the anterior flange 440 may be lesspronounced in on the medial side. In this example, the posterior flange450 also includes a particular contour with extended portions on boththe medial and lateral sides. The illustrated posterior flange 450 shapeprovides enhanced lateral stability for the lacing engine 10.

FIGS. 4B-4D illustrate insertion of the lid 20 into the mid-sole plate40 to retain the lacing engine 10 and capture lace cable 131. In thisexample, the lid 20 includes features such as latch 210, lid lace guides220, lid spool recess 230, and lid clips 240. The lid lace guides 220can include both medial and lateral lid lace guides 220. The lid laceguides 220 assist in maintaining alignment of the lace cable 131 throughthe proper portion of the lacing engine 10. The lid clips 240 can alsoinclude both medial and lateral lid clips 240. The lid clips 240 providea pivot point for attachment of the lid 20 to the mid-sole plate 40. Asillustrated in FIG. 4B, the lid 20 is inserted straight down into themid-sole plate 40 with the lid clips 240 entering the mid-sole plate 40via the lid slots 430.

As illustrated in FIG. 4C, once the lid clips 240 are inserted throughthe lid slots 430, the lid 20 is shifted anteriorly to keep the lidclips 240 from disengaging from the mid-sole plate 40. FIG. 4Dillustrates rotation or pivoting of the lid 20 about the lid clips 240to secure the lacing engine 10 and lace cable 131 by engagement of thelatch 210 with a lid latch recess 490 in the mid-sole plate 40. Oncesnapped into position, the lid 20 secures the lacing engine 10 withinthe mid-sole plate 40.

FIGS. 5A-5D are diagrams and drawings illustrating a mid-sole 50 andout-sole 60 configured to accommodate lacing engine 10 and relatedcomponents, according to some example embodiments. The mid-sole 50 canbe formed from any suitable footwear material and includes variousfeatures to accommodate the mid-sole plate 40 and related components. Inthis example, the mid-sole 50 includes features such as plate recess510, anterior flange recess 520, posterior flange recess 530, actuatoropening 540 and actuator cover recess 550. The plate recess 510 includesvarious cutouts and similar features to match corresponding features ofthe mid-sole plate 40. The actuator opening 540 is sized and positionedto provide access to the actuator 30 from the lateral side of thefootwear platform 1. The actuator cover recess 550 is a recessed portionof the mid-sole 50 adapted to accommodate a molded covering to protectthe actuator 30 and provide a particular tactile and visual look for theprimary user interface to the lacing engine 10, as illustrated in FIGS.5B and 5C.

FIGS. 5B and 5C illustrate portions of the mid-sole 50 and out-sole 60,according to example embodiments. FIG. 5B includes illustration ofexemplary actuator cover 610 and raised actuator interface 615, which ismolded or otherwise formed into the actuator cover 610. FIG. 5Cillustrates an additional example of actuator 610 and raised actuatorinterface 615 including horizontal striping to disperse portions of thelight transmitted to the out-sole 60 through the light pipe 320 portionof actuator 30.

FIG. 5D further illustrates actuator cover recess 550 on mid-sole 50 aswell as positioning of actuator 30 within actuator opening 540 prior toapplication of actuator cover 610. In this example, the actuator coverrecess 550 is designed to receive adhesive to adhere actuator cover 610to the mid-sole 50 and out-sole 60.

FIGS. 6A-6C are illustrations of a footwear assembly 1 including amotorized lacing engine 10, according to some example embodiments. Inthis example, FIGS. 6A-6C depict semi-transparent examples of anassembled automated footwear platform 1 including a lacing engine 10, amid-sole plate 40, a mid-sole 50, and an out-sole 60. FIG. 6A is alateral side view of the automated footwear platform 1. FIG. 6B is amedial side view of the automated footwear platform 1. FIG. 6C is a topview, with the upper portion removed, of the automated footwear platform1. The top view demonstrates relative positioning of the lacing engine10, the lid 20, the actuator 30, the mid-sole plate 40, the mid-sole 50,and the out-sole 60. In this example, the top view also illustrates thespool 130, the medial lace guide 420 the lateral lace guide 421, theanterior flange 440, the posterior flange 450, the actuator cover 610,and the raised actuator interface 615.

FIG. 6D is a top view diagram of upper 70 illustrating an example lacingconfiguration, according to some example embodiments. In this example,the upper 70 includes lateral lace fixation 71, medial lace fixation 72,lateral lace guides 73, medial lace guides 74, and brio cables 75, inadditional to lace 131 and lacing engine 10. The example illustrated inFIG. 6D includes a continuous knit fabric upper 70 with diagonal lacingpattern involving non-overlapping medial and lateral lacing paths. Thelacing paths are created starting at the lateral lace fixation runningthrough the lateral lace guides 73 through the lacing engine 10 upthrough the medial lace guides 74 back to the medial lace fixation 72.In this example, lace 131 forms a continuous loop from lateral lacefixation 71 to medial lace fixation 72. Medial to lateral tightening istransmitted through brio cables 75 in this example. In other examples,the lacing path may crisscross or incorporate additional features totransmit tightening forces in a medial-lateral direction across theupper 70. Additionally, the continuous lace loop concept can beincorporated into a more traditional upper with a central (medial) gapand lace 131 crisscrossing back and forth across the central gap.

FIG. 7 is a flowchart illustrating a footwear assembly process forassembly of an automated footwear platform 1 including lacing engine 10,according to some example embodiments. In this example, the assemblyprocess includes operations such as: obtaining an outsole/midsoleassembly at 710, inserting and adhering a mid-sole plate at 720,attaching laced upper at 730, inserting actuator at 740, optionallyshipping the subassembly to a retail store at 745, selecting a lacingengine at 750, inserting a lacing engine into the mid-sole plate at 760,and securing the lacing engine at 770. The process 700 described infurther detail below can include some or all of the process operationsdescribed and at least some of the process operations can occur atvarious locations (e.g., manufacturing plant versus retail store). Incertain examples, all of the process operations discussed in referenceto process 700 can be completed within a manufacturing location with acompleted automated footwear platform delivered directly to a consumeror to a retain location for purchase.

In this example, the process 700 begins at 710 with obtaining anout-sole and mid-sole assembly, such as mid-sole 50 adhered to out-sole60. At 720, the process 700 continues with insertion of a mid-soleplate, such as mid-sole plate 40, into a plate recess 510. In someexamples, the mid-sole plate 40 includes a layer of adhesive on theinferior surface to adhere the mid-sole plate into the mid-sole. Inother examples, adhesive is applied to the mid-sole prior to insertionof a mid-sole plate. In still other examples, the mid-sole is designedwith an interference fit with the mid-sole plate, which does not requireadhesive to secure the two components of the automated footwearplatform.

At 730, the process 700 continues with a laced upper portion of theautomated footwear platform being attached to the mid-sole. Attachmentof the laced upper portion is done through any known footwearmanufacturing process, with the addition of positioning a lower laceloop into the mid-sole plate for subsequent engagement with a lacingengine, such as lacing engine 10. For example, attaching a laced upperto mid-sole 50 with mid-sole plate 40 inserted, the lower lace loop ispositioned to align with medial lace guide 420 and lateral lace guide421, which position the lace loop properly to engage with lacing engine10 when inserted later in the assembly process. Assembly of the upperportion is discussed in greater detail in reference to FIGS. 8A-8Bbelow.

At 740, the process 700 continues with insertion of an actuator, such asactuator 30, into the mid-sole plate. Optionally, insertion of theactuator can be done prior to attachment of the upper portion atoperation 730. In an example, insertion of actuator 30 into the actuatorcutout 480 of mid-sole plate 40 involves a snap fit between actuator 30and actuator cutout 480. Optionally, process 700 continues at 745 withshipment of the subassembly of the automated footwear platform to aretail location or similar point of sale. The remaining operationswithin process 700 can be performed without special tools or materials,which allows for flexible customization of the product sold at theretail level without the need to manufacture and inventory everycombination of automated footwear subassembly and lacing engine options.

At 750, the process 700 continues with selection of a lacing engine,which may be an optional operation in cases where only one lacing engineis available. In an example, lacing engine 10, a motorized lacingengine, is chosen for assembly into the subassembly from operations710-740. However, as noted above, the automated footwear platform isdesigned to accommodate various types of lacing engines from fullyautomatic motorized lacing engines to human-power manually activatedlacing engines. The subassembly built up in operations 710-740, withcomponents such as out-sole 60, mid-sole 50, and mid-sole plate 40,provides a modular platform to accommodate a wide range of optionalautomation components.

At 760, the process 700 continues with insertion of the selected lacingengine into the mid-sole plate. For example, lacing engine 10 can beinserted into mid-sole plate 40, with the lacing engine 10 slippedunderneath the lace loop running through the lacing engine cavity 410.With the lacing engine 10 in place and the lace cable engaged within thespool of the lacing engine, such as spool 130, a lid (or similarcomponent) can be installed into the mid-sole plate to secure the lacingengine 10 and lace. An example of install of lid 20 into mid-sole plate40 to secure lacing engine 10 is illustrated in FIGS. 4B-4D anddiscussed above. With the lid secured over the lacing engine, theautomated footwear platform is complete and ready for active use.

FIGS. 8A-8B include flowcharts illustrating generally an assemblyprocess 800 for assembly of a footwear upper in preparation for assemblyto a mid-sole, according to some example embodiments.

FIG. 8A visually depicts a series of assembly operations to assembly alaced upper portion of a footwear assembly for eventual assembly into anautomated footwear platform, such as though process 700 discussed above.Process 800 illustrated in FIG. 8A starts with operation 1, whichinvolves obtaining a knit upper and a lace (lace cable). Next, a firsthalf of the knit upper is laced with the lace. In this example, lacingthe upper involves threading the lace cable through a number of eyeletsand securing one end to an anterior section of the upper. Next, the lacecable is routed under a fixture supporting the upper and around to theopposite side. Then, at operation 2.6, the other half of the upper islaced, while maintaining a lower loop of lace around the fixture. At2.7, the lace is secured and trimmed and at 3.0 the fixture is removedto leave a laced knit upper with a lower lace loop under the upperportion.

FIG. 8B is a flowchart illustrating another example of process 800 forassembly of a footwear upper. In this example, the process 800 includesoperations such as obtaining an upper and lace cable at 810, lacing thefirst half of the upper at 820, routing the lace under a lacing fixtureat 830, lacing the second half of the upper at 840, tightening thelacing at 850, completing upper at 860, and removing the lacing fixtureat 870.

The process 800 begins at 810 by obtaining an upper and a lace cable tobeing assembly. Obtaining the upper can include placing the upper on alacing fixture used through other operations of process 800. At 820, theprocess 800 continues by lacing a first half of the upper with the lacecable. Lacing operation can include routing the lace cable through aseries of eyelets or similar features built into the upper. The lacingoperation at 820 can also include securing one end of the lace cable toa portion of the upper. Securing the lace cable can include sewing,tying off, or otherwise terminating a first end of the lace cable to afixed portion of the upper.

At 830, the process 800 continues with routing the free end of the lacecable under the upper and around the lacing fixture. In this example,the lacing fixture is used to create a proper lace loop under the upperfor eventual engagement with a lacing engine after the upper is joinedwith a mid-sole/out-sole assembly (see discussion of FIG. 7 above). Thelacing fixture can include a groove or similar feature to at leastpartially retain the lace cable during the sequent operations of process800.

At 840, the process 800 continues with lacing the second half of theupper with the free end of the lace cable. Lacing the second half caninclude routing the lace cable through a second series of eyelets orsimilar features on the second half of the upper. At 850, the process800 continues by tightening the lace cable through the various eyeletsand around the lacing fixture to ensure that the lower lace loop isproperly formed for proper engagement with a lacing engine. The lacingfixture assists in obtaining a proper lace loop length, and differentlacing fixtures can be used for different size or styles of footwear.The lacing process is completed at 860 with the free end of the lacecable being secured to the second half of the upper. Completion of theupper can also include additional trimming or stitching operations.Finally, at 870, the process 800 completes with removal of the upperfrom the lacing fixture.

FIG. 9 is a drawing illustrating a mechanism for securing a lace withina spool of a lacing engine, according to some example embodiments. Inthis example, spool 130 of lacing engine 10 receives lace cable 131within lace grove 132. FIG. 9 includes a lace cable with ferrules and aspool with a lace groove that include recesses to receive the ferrules.In this example, the ferrules snap (e.g., interference fit) intorecesses to assist in retaining the lace cable within the spool. Otherexample spools, such as spool 130, do not include recesses and othercomponents of the automated footwear platform are used to retain thelace cable in the lace groove of the spool.

FIG. 10A illustrates generally a block diagram of components of amotorized lacing system 1000, according to an example embodiment. Thesystem 1000 includes some, but not necessarily all, components of amotorized lacing system such as including interface buttons 1001 (e.g.,corresponding to the buttons 121 in the example of FIG. 2A), a footpresence sensor 1010, and the housing structure 100 enclosing a printedcircuit board assembly (PCA) with a processor circuit 1020, a battery1021, a charging coil 1022, an encoder 1025, a motion sensor 1024, and adrive mechanism 1040. The drive mechanism 1040 can include, among otherthings, a motor 1041, a transmission 1042, and a lace spool 1043. Themotion sensor 1024 can include, among other things, a single or multipleaxis accelerometer, a magnetometer, a gyrometer, or other sensor ordevice configured to sense motion of the housing structure 150, or ofone or more components within or coupled to the housing structure 150.In an example, the system 1000 includes a magnetometer 1220 coupled tothe processor circuit 1020.

In the example of FIG. 10A, the processor circuit 1020 is in data orpower signal communication with one or more of the interface buttons1001, foot presence sensor 1010, battery 1021, charging coil 1022, anddrive mechanism 1040. The transmission 1042 couples the motor 1041 tothe spool 1043 to form the drive mechanism 1040. In the example of FIG.10A, the buttons 1001, foot presence sensor 1010, and environment sensor1050 are shown outside of, or partially outside of, the housingstructure 100.

In alternative embodiments, one or more of the buttons 1001, footpresence sensor 1010, and environment sensor 1050 can be enclosed in thehousing structure 100. In an example, the foot presence sensor 1010 ispreferably disposed inside of the housing structure 100 to protect thesensor from perspiration and dirt or debris. Minimizing or eliminatingconnections through the walls of the housing structure 100 can helpincrease durability and reliability of the assembly.

In an example, the processor circuit 1020 controls one or more aspectsof the drive mechanism 1040. For example, the processor circuit 1020 canbe configured to receive information from the buttons 1001 and/or fromthe foot presence sensor 1010 and/or from the motion sensor 1024 and, inresponse, control the drive mechanism 1040, such as to tighten or loosenfootwear about a foot. In an example, the processor circuit 1020 isadditionally or alternatively configured to issue commands to obtain orrecord sensor information, from the foot presence sensor 1010 or othersensor, among other functions. In an example, the processor circuit 1020conditions operation of the drive mechanism 1040 on (1) detecting a footpresence using the foot presence sensor 1010 and (2) detecting aspecified gesture using the motion sensor 1024.

In an example, the system 1000 includes an environment sensor 1050.Information from the environment sensor 1050 can be used to update oradjust a baseline or reference value for the foot presence sensor 1010.As further explained below, capacitance values measured by a capacitivefoot presence sensor can vary over time, such as in response to ambientconditions near the sensor. Using information from the environmentsensor 1050, the processor circuit 1020 and/or the foot presence sensor1010 can update or adjust a measured or sensed capacitance value.

In an example, the system 1000 includes sensors configured to collectdifferent types of data. In an example, the sensor(s) collect dataregarding a number, sequence, and/or frequency of compressions of theinsole 1201 (see, e.g., discussion of FIGS. 12A-12G). For example, thesystem 1000 can record a number or frequency of steps, jumps, cuts,kicks, or other compressive forces incurred while a wearer wears thefootwear, as well as other parameters, such as contact time and flighttime. Both quantitative sensors and binary on/off type sensors cangather this data. In another example, the system 1000 can record asequence of compressive forces incurred by the footwear, which can beused for purposes such as determining foot pronation or supination,weight transfer, foot strike patterns, or other such applications. Inanother embodiment the sensor(s) can quantitatively measure compressiveforces on different portions of the footwear (e.g., using the array ofmagnets 1250-1252 discussed below) and the measured information caninclude quantitative compressive force and/or impact information.Relative differences in the forces on different portions of the footwearcan be used, for example, to determine a wearer's weight distribution,or “center of pressure”. The weight distribution and/or center ofpressure can be calculated independently for one or both articles offootwear used by a wearer, or can be calculated over both shoestogether, such as to find a center of pressure or center of weightdistribution for a wearer's entire body. In an example, the sensor(s)can measure rates of change in compressive forces (see, e.g., FIGS. 12Eand 12F), contact time, flight time or time between impacts (such as forjumping or running), and/or other temporally-dependent parameters. It isunderstood that, in any embodiment, the sensors can use or require aspecified threshold force or impact before registering a givenforce/impact as an event.

FIG. 10B illustrates a flowchart showing an example of a method 1100that includes using foot presence information from a footwear sensor. Atoperation 1110, the example includes receiving foot presence informationfrom the foot presence sensor 1010. The foot presence information caninclude binary information about whether or not a foot is present infootwear, or can include an indication of a likelihood that a foot ispresent in a footwear article. The information can include an electricalsignal provided from the foot presence sensor 1010 to the processorcircuit 1050. In an example, the foot presence information includesqualitative information about a location of a foot relative to one ormore sensors in the footwear.

At operation 1120, the example includes determining whether a foot isfully seated in the footwear. If the sensor signal indicates that thefoot is fully seated, then the example can continue at operation 1130with actuating the drive mechanism 1040. For example, when a foot isdetermined to be fully seated at operation 1120, such as based oninformation from the foot presence sensor 1010, the drive mechanism 1040can be engaged to tighten footwear laces via the spool 1031, asdescribed above. If the sensor signal indicates that the foot is notfully seated, then the example can continue at operation 1122 bydelaying or idling for some specified interval (e.g., 1-2 seconds, ormore). After the specified delay elapses, the example can return tooperation 1110, and the processor circuit 1050 can re-sample informationfrom the foot presence sensor 1010 to determine again whether the footis fully seated.

After the drive mechanism 1040 is actuated at operation 1130, theprocessor circuit 1050 can be configured to monitor foot locationinformation at operation 1140. For example, the processor circuit can beconfigured to periodically or intermittently monitor information fromthe foot presence sensor 1010 about an absolute or relative position ofa foot in the footwear. In an example, monitoring foot locationinformation at operation 1140 and receiving foot presence information atoperation 1110 can include receiving information from the same ordifferent foot presence sensor 1010. For example, different electrodescan be used to monitor foot presence or position information atoperations 1110 and 1140.

At operation 1140, the example includes monitoring information from oneor more buttons associated with the footwear, such as the buttons 121.Based on information from the buttons 121, the drive mechanism 1040 canbe instructed to disengage or loosen laces, such as when a user wishesto remove the footwear.

In an example, lace tension information can be additionally oralternatively monitored or used as feedback information for actuatingthe drive mechanism 1040, or for tensioning laces. For example, lacetension information can be monitored by measuring a drive currentsupplied to the motor 1041. The tension can be characterized at a pointof manufacture or can be preset or adjusted by a user, and can becorrelated to a monitored or measured drive current level.

At operation 1150, the example includes determining whether a footlocation has changed in the footwear. If no change in foot location isdetected by the foot presence sensor 1010 and the processor circuit1050, then the example can continue with a delay at operation 1152.After a specified delay interval at operation 1152, the example canreturn to operation 1140 to re-sample information from the foot presencesensor 1010 to again determine whether a foot position has changed. Thedelay at operation 1152 can be in the range of several milliseconds toseveral seconds, and can optionally be specified by a user.

In an example, the delay at operation 1152 can be determinedautomatically by the processor circuit 1050, such as in response todetermining a footwear use characteristic. For example, if the processorcircuit 1050 determines that a wearer is engaged in strenuous activity(e.g., running, jumping, etc.), then the processor circuit 1050 candecrease a delay duration provided at operation 1152. If the processorcircuit determines that the wearer is engaged in non-strenuous activity(e.g., walking or sitting), then the processor circuit can increase thedelay duration provided at operation 1152. By increasing a delayduration, battery life can be preserved by deferring sensor samplingevents and corresponding consumption of power by the processor circuit1050 and/or by the foot presence sensor 1010. In an example, if alocation change is detected at operation 1150, then the example cancontinue by returning to operation 1130, for example, to actuate thedrive mechanism 1040 to tighten or loosen the footwear about the foot.In an example, the processor circuit 1050 includes or incorporates ahysteretic controller for the drive mechanism 1040 to help avoidunwanted lace spooling in the event of, e.g., minor detected changes infoot position.

FIGS. 11A-11D are diagrams illustrating a motor control scheme for amotorized lacing engine, according to some example embodiments. In anexample, the motor control scheme involves dividing up a total travel,in terms of lace take-up, into segments, with the segments varying insize based on position on a continuum of lace travel (e.g., betweenhome/loose position on one end and max tightness on the other). As themotor is controlling a radial spool and will be controlled, primarily,via a radial encoder on the motor shaft, the segments can be sized interms of degrees of spool travel (which can also be viewed in terms ofencoder counts). On the loose side of the continuum, the segments can belarger, such as 10 degrees of spool travel, as the amount of lacemovement is less critical. However, as the laces are tightened eachincrement of lace travel becomes more and more critical to obtain thedesired amount of lace tightness. Other parameters, such as motorcurrent, can be used as secondary measures of lace tightness orcontinuum position. FIG. 11A includes an illustration of differentsegment sizes based on position along a tightness continuum.

In FIG. 11A, a total lace travel can be divided into a fixed number ofsegments. A segment can be an amount of spool travel, and can be fixedor variable. For example, a segment length can depend on where thelacing engine is on the scale in terms of lace take-up. The example ofFIG. 11A includes a graphical representation of a total lace travel 1100divided into multiple, serially-arranged segments. For example, one ormore segments can correspond to about 10 degrees of rotational spooltravel, such as when the lacing engine or footwear is at a first orloose end of a tightness scale. At an opposite second or tight end ofthe scale, a segment can correspond to about 2 degrees of rotationalspool travel. Other values can similarly be used. In an example, arotational position of the spool can be a primary input for a tightnesssetting, and a motor current can be used secondarily or as a safetycheck.

FIG. 11B illustrates using a tightness continuum position to build atable of motion profiles based on current tightness continuum positionand desired end position. The motion profiles can be translated intospecific inputs, such as from user input buttons or gesture informationreceived from various sensors. The motion profile can include parametersof spool motion, such as acceleration (Accel (deg/s/s)), velocity (Vel(deg/s)), deceleration (Dec (deg/s/s)), and angle of movement (Angle(deg)).

FIG. 11B includes an example of a first table 1101 of spool motion orlocation characteristics. A motion profile can be any combination of oneor more moves or location characteristics. In an example, an autolaceevent, a button press, a gesture-based input, or other input caninitiate or trigger a motion profile. In an example, a processor circuitreceives the trigger input and then updates a motor current supply tosupport the motion requested defined by the input. Multipliers orfactors for a gear reduction can be provided, such as can be used forquickly updating or changing one or more entries in the first table1101. The first table 1101 is an example only and the values shown canchange, for example, based on user settings, preferences, or defaultsettings.

FIG. 11C depicts an example motion profile chart 1103. The chart 1103includes an x-axis representing time and a y-axis representing velocity.The velocity axis corresponds to a lace or spool travel velocity. In theexample of FIG. 11C, a “Home to Comfort” motion profile can be used tospool and unspool a lace, followed by a “Relax” motion profile.

FIG. 11D illustrates generally a second table 1103 that includes anexample of various user inputs that can activate various motion profilesalong a footwear tightness continuum. In an example, footwear or alacing engine can include or use various factory default settings forbaseline comfort and performance. However, in response to a user input,such as a button push, the lacing engine can be caused to perform one ormore different profile or movement changes. For example, in response toa “Short” press, the lacing engine can be caused to move incrementallyamong the various segments. In response to a “Double” press, the lacingengine can be caused to move between adjacent pre-defined or specifiedmotion profiles. In response to a button “Hold” (e.g., a hold greaterthan about 250 ms), the lacing engine can be caused to move betweenfully tightened or fully relaxed profiles. In an example, any user inputto the button or other input can stop the lacing engine.

FIG. 12A is a block diagram illustrating footwear components that caninclude a magnetic foot presence sensor. The example in FIG. 12Aincludes a magnetometer 1220 and a first magnet 1210 that is spacedapart from the magnetometer 1220. Although generally referred to hereinas a “magnet”, various materials or components can be used and sensed bythe magnetometer 1220. In an example, the first magnet 1210 itself isn'tsensed by the magnetometer 1220, and instead an influence of the firstmagnet 1210 on a magnetic field at or near the magnetometer 1220 issensed by the magnetometer 1220. Thus references herein to the firstmagnet 1210 (or to other magnets or magnetic bodies) can be understoodto include other materials, or an effect of the first magnet 1210 orother materials, that are detectable by the magnetometer 1220.

The magnetometer 1220 can be surface mounted or otherwise coupled to amain PC assembly 1230, and the PC assembly 1230 can be included in thehousing structure 100. In the example, the first magnet 1210 ispositioned laterally offset from a vertical axis of the magnetometer1220. For example, the first magnet 1210 can be disposed in a foaminsole 1201, and the foam insole 1201 can be configured to be used orworn adjacent the housing structure 100, such as inside a footweararticle.

In an example, the magnetometer 1220 includes an ST MicroelectronicsLSM303AGR (e.g., a combination accelerometer and magnetometer) orsimilar device. In an example, under normal use conditions, footpressure from a foot displaces the magnet 1210 (e.g., within the foaminsole 1201) by about 0.5-1 mm. In an example, the foam insole 1201 canbe included in a recess above the housing structure 100 or can beincluded as part of another insole. Other examples can include using abridge to hold the magnet 1210, as further discussed below. Abridge canhelp to increase an area onto which an applied pressure or force (e.g.,from a foot) displaces the magnet 1210. The foam insole 1201 can beselectively coupled or responsive to the applied pressure by, e.g.,placing a film on top of the foam insole 1201 and magnet. The film canvary in stiffness, shape, and/or area, for example, depending on whichregion underfoot is targeted. That is, a single or unitary film can havedifferent regions corresponding to different foot regions to therebyadjust a sensitivity of the sensor system.

The magnet 1210 and the magnetometer 1220 need not be located such thatthe magnet 1210 is positioned vertically above the magnetometer 1220. Inan example, the magnet 1210 can be offset to one side or the other ofthe magnetometer 1220, such as illustrated in the example of FIG. 12A.

Although labeled in the example of FIG. 12A as “foam”, the compressiblelayer of the foam insole 1201 can be any compressible material such asfoam, rubber, silicone, cloth, or a polymer-based material or othermaterial. In an example, the compressible layer is about 3 to 10 mmthick.

In an example, the lacing engine 10 includes the housing structure 100,and the magnetometer 1220 is included inside of or atop the housingstructure 100. In an example, the housing structure is a polycarbonatestructure having a wall thickness of about 1 mm. In other examples, thehousing structure can be made of aluminum, steel, or othernon-conducting materials including glass, porcelain, rubber, or variouspolymers or plastics.

FIG. 12A shows the insole 1201 in a first compression state such thatthe magnet 1210 and magnetometer 1220 are separated by a first distanceD1. FIG. 12B shows the insole 1201 in a second, more-compressed statesuch that the magnet 1210 and magnetometer 1220 are separated by alesser second distance D2. In an example, the magnetometer 1220 providesthe distance information to the processor circuit 1020, and theprocessor circuit 1020 is configured to identify or use informationabout the distances or about a rate of change between consecutivedistance information. For example, the processor circuit 1020 can beconfigured to determine a foot impact characteristic, such as an impactforce, or impact timing or frequency, based on the distance information.

Although FIGS. 12A and 12B illustrate generally a single magnet andsingle magnetometer configuration, other configurations can be used. Forexample, multiple magnets can be used with a single magnetometer. FIG.12C is a block diagram illustrating footwear components that can includea magnetic foot presence sensor with the magnetometer 1220 and multiplemagnets 1210-1213 (or other discrete materials that can be sensed by themagnetometer 1220). In an example, the multiple magnets 1210-1213 can bepositioned in different places in a footwear article. For example, anarray of magnets can be disposed within an insole, such as at differentvertical heights over or near the magnetometer 1220, and/or at differentlateral spacing relative to the magnetometer 1220. In the example ofFIG. 12C, a first magnet 1210 is offset by a first height and lateraldisplacement relative to the magnetometer 1220, and a second magnet 1211is offset by a lesser second height and lesser lateral displacementrelative to the magnetometer 1210. Alternatively or additionally,multiple magnetometers can be used to sense information aboutdisplacement of one or more different magnets.

FIG. 12D is a block diagram illustrating a top view of footwearcomponents that includes a magnetic foot presence sensor with themagnetometer 1220. In this example, an array of magnets 1250-1252 (orother discrete materials that can be sensed by the magnetometer 1220) isshown as being laterally offset (i.e., in x and y directions) from avertical axis (i.e., z direction, into the page) of the magnetometer1220. In this example, information from the magnetometer 1220 can beused to monitor foot presence, and to monitor information about footshear, that is, information about a lateral shift in a position of thefoot. For example, a foot on the insole 1201 can cause the insole tomove or deflect forward, backward, or to a side. The array of magnets1250-1252, such as can be coupled to or disposed within the insole 1201,can move relative to the magnetometer 1220. Resulting signals from themagnetometer 1220 can indicate a degree or magnitude of shear or laterfoot movement.

In an example, an article of footwear (see, e.g., FIG. 1) can include aferromagnetic body disposed in the article, such as the magnet 1210 orthe array of magnets 1250-1252. The article can include the magnetometer1220 provided or arranged within the article to measure a strength ordirection of a magnetic field that is influenced by a position of theferromagnetic body. In an example, one of the ferromagnetic body and themagnetometer is configured to move relative to the other one of theferromagnetic body and the magnetometer, such as according to movementof a foot in the article or according to movement of the article itself.For example, when the ferromagnetic body is disposed in the insole 1201,the ferromagnetic body can move according to compression or relaxationof the insole 1201 when the article is used for walking, running, orother activities.

In an example, the magnetometer 1220 is coupled to the processor circuit1020. The processor circuit 1020 can receive a signal from themagnetometer that corresponds to a sensed magnetic field strength. In anexample, the signal includes information about a change or rate ofchange of the sensed magnetic field. For example, the signal can includeinformation about a changing location of, or series of locations of, theferromagnetic body relative to the magnetometer 1220.

FIGS. 12E and 12F illustrate charts showing time-varying informationfrom a magnetometer. FIG. 12E shows a first magnetic field chart 1261with a first time-varying magnetic field signal 1271. In an example, thefirst time-varying magnetic field signal 1271 can be generated by themagnetometer 1220, and the signal is based on sensed information about alocation of the magnet 1210 relative to the magnetometer 1220, such asin a first footwear article. That is, the first time-varying magneticfield signal 1271 can represent magnetic field strength information overtime.

In the example of FIG. 12E, the first time-varying magnetic field signal1271 has a baseline or reference magnetic field strength B₀. Thereference magnetic field strength B₀ can correspond to a referenceposition of the footwear article that includes the magnetometer 1220 andthe magnet 1210. In an example, the reference magnetic field strength B₀corresponds to empty or unused footwear, or corresponds to footwear thatis in a relaxed or uncompressed state (e.g., a wearer is sitting orotherwise exerting minimal force on the insole 1201). In an example, thereference magnetic field strength B₀ corresponds to a stationaryfootwear condition, such as when a wearer is standing substantiallystill and the magnet 1210 is biased toward the magnetometer 1220 by asubstantially constant bias force.

The example of FIG. 12E illustrates several changes in the firsttime-varying magnetic field signal 1271 over the interval shown. In anexample, the several changes correspond to foot strike events or steps.A first time T₁ can correspond to an onset of a first step. That is, atthe first time T₁ a wearer of the article can begin to apply pressure orforce to the insole 1201 of a first footwear article that includes thatmagnet 1210. At a second time T₂, the first step can be completed andthe wearer's weight can rest substantially on the one foot thatcorresponds to the first footwear article. At the second time T₂, theinsole 1201 can be compressed and the magnet 1210 can be moved into amore proximal position with respect to the magnetometer 1220. As aresult, the magnetometer 1220 can detect a greater magnetic fieldstrength B_(WALK) than was detected in the reference position, B₀.

An interval from the second time T₂ to a third time T₃ can represent awearer progressing through a walking motion and releasing pressure orcompressive force from the first foot. Thus at least a portion of afirst step event can be represented by the interval between the firstand third times T₁ and T₃. At time T₃, the magnet 1210 in the firstfootwear article is returned to its baseline or reference position, andthe magnetometer 1220 again senses the reference magnetic field strengthB₀.

Various information about the first step event can be determined fromthe first time-varying magnetic field signal 1271. In an example, asignal magnitude change (e.g., ΔB₁ in FIG. 12E) can represent a footimpact force for the first step event. That is, quantitative informationabout the foot's impact can correspond to displacement of the magnet1210 relative to the magnetometer 1220. A greater signal magnitudechange can correspond to a greater foot impact force, for example,because the insole 1201 can be further compressed under a greater footimpact force than under a lesser force.

Information about a duration between various magnetic field signalmagnitude changes can be used to provide information about a footimpact. For example, a duration between the first and second times T₁and T₂ can indicate how rapidly the insole 1201, and therefore the foot,goes from a relaxed state to a compressed state and can, in an example,correspond to how quickly a user is moving (walking, jogging, running,etc.). Thus, in an example, the duration information can be used toassess or provide information about a physiologic effect of the wearer'sown activity or gait.

In an example, an activity type can be classified based on the rate ofchange information, or based on signal morphology information, from thefirst time-varying magnetic field signal 1271. A magnetic field signalthat represents a walking gait can have different time intervals betweensignal peaks and valleys as compared to a signal that represents arunning gait. A signal that represent a jogging gait can be furtherdistinguished, such as based on signal bounces or other slight changesin the signal. For example, a signal that corresponds to a jogging gaitcan have longer intervals with somewhat rounded peaks or valleys, anddurations between different peak or valley events can drift moderatelyover time. A signal that corresponds to a running gait can have shorterintervals and sharp, well-defined peaks or valleys, and can includedurations between different peak or valley events that are mostconsistent or static over time.

In the example of FIG. 12E, the rate of change or slope of the firsttime-varying magnetic field signal 1271 between the first and secondtimes T₁ and T₂ differs from the rate of change or slope between thesecond and third times T₂ and T₃. In this example, the slope differencecan represent a relatively quick step onset and a relatively slow orrelaxed recoil or transition to another foot. In some examples, themagnetic field signal slopes can be relatively constant over differentstep events, and the slopes can be relatively constant for each foot.Rate of change information about different feet, or about a rate ofchange of various portions of the magnetic field signal, can be used toanalyze a wearer's gait such as to determine if the wearer tends to“favor” one foot over the other, or to analyze recovery progressionafter an injury.

In an example, rate of change information or event information can bedetermined from a time-varying magnetic field signal and used toidentify a series of foot strike events. The information can be used toprovide a step counter or pedometer. In an example, the processorcircuit 1020 can include or use information about a stride length,together with the foot strike information, to calculate distanceinformation. In an example, different stride information can be selectedby the processor circuit 1020, such as corresponding to different rateof change information in a foot strike for a particular foot strikeevent, to enhance accuracy of a distance determination.

FIG. 12F shows a second magnetic field chart 1262 with a secondtime-varying magnetic field signal 1272. In an example, the secondtime-varying magnetic field signal 1272 can be generated by themagnetometer 1220, and the signal is based on sensed information about alocation of the magnet 1210 relative to the magnetometer 1220, such asin a first footwear article. That is, the second time-varying magneticfield signal 1272 can represent magnetic field strength information overtime.

In the example of FIG. 12F, the second time-varying magnetic fieldsignal 1272 has a baseline or reference magnetic field strength B₀. Thebaseline or reference field can be the same or different baseline orreference field as used in the example of FIG. 12E. In an example, thebaseline or reference field can be user specific, and can be influencedby one or more environmental factors that contribute to a magnetic fieldstrength detected by the magnetometer 1220. As similarly explainedabove, the reference magnetic field strength B₀ in the example of FIG.12F can correspond to a reference position of the footwear article thatincludes the magnetometer 1220 and the magnet 1210.

The example of FIG. 12F illustrates several changes in the secondtime-varying magnetic field signal 1272 over the interval shown. In anexample, the several changes correspond to foot strike events or stepsfor a running wearer. A first time T₁ can correspond to an onset of afirst step in a running gait. That is, at the first time T₁ a wearer ofthe article can begin to apply pressure or force to the insole 1201 of afirst footwear article that includes that magnet 1210. At a second timeT₂, the first step in the running gait can be completed and the wearer'sweight can rest substantially or entirely on the one foot thatcorresponds to the first footwear article. At the second time T₂, theinsole 1201 can be compressed and the magnet 1210 can be moved into amore proximal position with respect to the magnetometer 1220. As aresult, the magnetometer 1220 can detect a greater magnetic fieldstrength B_(RUN) than was detected in the reference position, B₀.Furthermore, since the running gait can represent a wearer traveling ata greater speed than walking, the detected magnetic field strengthB_(RUN) in the example of FIG. 12F can be greater than the detectedmagnetic field strength B_(WALK) in the example of FIG. 12E (e.g.,assuming the first and second time-varying magnetic field signals 1271and 1272 correspond to the same wearer, or wearers of substantially thesame weight).

An interval from the second time T₂ to a third time T₃ can represent awearer progressing through a running motion on a first foot andreleasing pressure or compressive force from the first foot. At time T₃,the magnet 1210 in the first footwear article is returned to itsbaseline or reference position, and the magnetometer 1220 again sensesthe reference magnetic field strength B₀.

Various information about discrete steps or strides in the running gaitcan be determined from the second time-varying magnetic field signal1272. In an example, a signal magnitude change (e.g., ΔB₂ in FIG. 12F)can represent a peak foot impact force for the illustrated strides. Asshown in the example of FIG. 12F, different strides can have differentpeak values. A greater peak or greater signal magnitude change cancorrespond to a greater foot impact force, for example, because theinsole 1201 can be further compressed under a greater foot impact forcethan under a lesser force.

Information about a duration between various magnetic field signalmagnitude changes can be used to provide information about a footimpact. For example, a duration between the first and second times T₁and T₂ can indicate how rapidly the insole 1201, and therefore the foot,goes from a relaxed state to a compressed state and can, in an example,correspond to how quickly the wearer is running.

FIG. 12G illustrates generally an example of a method 1260 that includesinitiating an active footwear response to a magnetometer signal. Themethod 1260 can be performed at least in part by the processor circuit1020 using information from the magnetometer 1220. At operation 1261,the method 1260 includes receiving a signal from the magnetometer 1220.The received signal can include an analog or digital, time-varyingsignal indicative of a time-varying magnetic field detected by themagnetometer 1220. The magnetic field can change, for example, based ona changing position of the magnet 1210 in footwear. In an example, theprocessor circuit 1020, or other dedicated circuit configured to carryout acts based on specified input conditions, can be configured toreceive the magnetometer signal at operation 1261.

At operation 1262, the processor circuit 1020 can analyze the receivedsignal and determine whether a magnetic body (e.g., the magnet 1210) wasmoved or displaced, such as by greater than a specified thresholdmovement amount. If no movement or insignificant (non-threshold)displacement is detected, then the method 1260 can return to operation1261 to receive subsequent information from the magnetometer 1220. In anexample, a fixed or variable delay can be provided between magnetometersignal sampling events. If, at operation 1262, the magnetic body isdetermined to have moved by greater than the specified thresholdmovement amount, then the example can continue at operation 1263 byinitiating a response in the active footwear that includes themagnetometer 1220.

For example, at operation 1263, various footwear functions can beinitiated, such as actuating a lace drive mechanism (operation 1264),determining a foot impact characteristic (operation 1265), ordetermining a step rate (operation 1266). At operation 1264, a lacedrive mechanism can be actuated. For example, the lace drive mechanismcan be actuated according to operation 1130 in the example of FIG. 10B.In an example, actuating the lace drive mechanism at operation 1264includes monitoring foot impact or rate of change information from atime-varying magnetometer signal (e.g., received at operation 1261). Thelace drive actuation at operation 1264 can include automaticallyadjusting a footwear tension about a foot in response to sensed footimpact information. For example, in response to information from thetime-varying magnetometer signal that indicates a strenuous activity orsevere use case, such as running or jumping, the lace drive mechanismcan be actuated at operation 1264 to tighten the footwear about thefoot. In contrast, if the time-varying information from the magnetometer1220 indicates a wearer is stationary or walking slowly, then the lacedrive mechanism can be actuated at operation 1264 to relax the footwearabout the foot.

In an example, actuating the lace drive mechanism at operation 1264includes tensioning the footwear about the foot when the footwear isfirst donned by the wearer. The magnetometer signal received atoperation 1261 can indicate that the wearer is just starting to move orbegin a step with the footwear, and in response the drive mechanism canbe actuated to quickly tension the footwear to a first tension level.The tension level can be automatically adjusted by the processor circuit1020, such as after gait information is received over the first coupleof step events.

At operation 1265, the example of FIG. 12G includes determining a footimpact characteristic based on the received magnetometer signal. Asdiscussed above in the examples of FIGS. 12E and 12F, a foot impactcharacteristic can include a rate of change in a compressive force thatis applied to the footwear (and is thereby incurred or experienced bythe foot inside the footwear). The foot impact characteristic caninclude information about a contact time, flight time, or time betweenimpacts such as during running, walking, jumping, or other activities.

In an example, information about the foot impact characteristic can beused to provide a wearer with information about how hard his or her feet(individually) strike or impact a receiving surface. Information aboutthe foot impact characteristic can further include information aboutwhether the wearer is moving with a proper or desired foot placement.Such foot placement information can be discerned using a multi-axismagnetometer, or using the array of magnets 1250-1252. In an example,information about the foot impact characteristic can be recorded overtime and used to provide information about a status of one or morecomponents of the footwear. For example, the processor circuit 1020 canuse information about foot impact characteristics over time to determinewhen the insole 1201 requires replacement.

At operation 1266, the example of FIG. 12G includes determining a steprate using the received magnetometer signal. As discussed above in theexamples of FIGS. 12E and 12F, a step rate can correspond to changesidentified in the time-varying magnetic field signals sensed by themagnetometer 1220. For example, magnetic field changes indicating anincrease and subsequent decrease in field strength, such as within aspecified duration, can be used to indicate a step event, or alikelihood that a step event occurred.

FIG. 12G illustrates several available responses to identified changesin a magnetic field signal sensed by the magnetometer 1220. Otherresponses can similarly be initiated such as including other responsiveactions taken by circuitry or devices in the footwear or by otherdevices or processes that are in data communication with the footwear.For example, in response to an identified field change, data can becollected from one or more sensors in the footwear, such as from themotion sensor 1024 or environment sensor 1050. In an example, a profileor morphology of a time-varying magnetic field signal can be analyzed bythe processor circuit 1020 and gesture information can be identified andused to trigger one or more other footwear functions, processes, or datatransfer events.

FIG. 13 is a diagram illustrating generally pressure distribution datafor a nominal or average foot (left) and for a high arch foot (right) ina footwear article when a user of the article is standing. In thisexample, it can be seen that the relatively greater areas of pressureunderfoot include at a heel region 1301, at a ball region 1302 (e.g.,between the arch and toes), and at a hallux region 1303 (e.g., a “bigtoe” region). As discussed above, however, it can be advantageous toinclude various active components (e.g., including a foot presencesensor) in a centralized region, such as at or near a footwear archregion. For example, in this region, the housing structure 100 can begenerally less noticeable or intrusive to a user when a footwear articlethat includes the housing structure 100 is worn.

In an example, a magnetometer such as the magnetometer 1220 in theexamples of FIGS. 12A-12D can be included in or on the housing structure100, and can be disposed in an arch area of a footwear article. One ormore magnets located in the insole 1201 can be positioned proximal tothe magnetometer 1220 as described above, such as also in the arch areaof the article. However, because the arch area is generally notsubjected to significant pressure or force changes (see, e.g., FIG. 13),a bridge component can optionally be used to transmit a force fromanother foot region to the magnet(s) and/or to the magnetometer 1220,for example to influence or enhance displacement of the magnet(s)relative to the magnetometer 1220.

FIGS. 14A and 14B illustrate generally diagrams showing a bridgecomponent or pressure plate for use with a magnetic sensor. FIG. 14Aillustrates a first magnet 1401 disposed on a bridge component 1410. Thebridge component 1410 can be coupled to a lid 1420 of the housingstructure 100 by way of a spring wire 1430. The spring wire 1430 can beconfigured to push or bias the bridge component 1410, and thereby movethe first magnet 1401, into a first position, such as when the firstmagnet 1401 is not subjected to the presence of a foot or when nopressure is applied to the footwear article that comprises the sensor.That is, the spring wire 1430 can act as a cantilever that projects fromthe lid 1420 and retains the first magnet 1401 at or near an edge of thecantilever. When a force or foot pressure is applied to the bridgecomponent 1410, the bridge component 1410 can be deflected or movedrelative to the housing structure 100 and relative to the magnetometer1220 included within the housing structure 100. In an example, thehousing structure 100 and/or another component of the footwear, such asthe midsole 60, includes a recess, cavity, or compressible componentthat is configured to receive at least a portion of the bridge component1410, such as to provide a travel path for the bridge component 1410 andthe first magnet 1401 when a force or foot pressure is applied thereto.

The bridge component 1410 can have various shapes, contours, ororientations. For example, the bridge component 1410 can have anelongate shape that is oriented parallel or orthogonal to a heel-to-toeaxis of a footwear article. In an example, the elongate shape can beconfigured to receive foot displacement information from the heel region1301 and/or the hallux region 1303 of a foot (see FIG. 13). In anexample, the elongate shape receives foot displacement information froman arch region by receiving displacement information from left and/orright sides of a foot.

In an example, the bridge component 1410 can be a replaceable element inan article of footwear. The bridge component 1410 can be selected fromamong multiple different bridge component types or styles according to auser's preference or anatomy. For example, a user with high arches canuse a bridge component that is wider or longer than would be used by auser with low or shallow arches.

In an example, an article of footwear includes the bridge component1410, and at least one of a ferromagnetic body, such as the magnet 1210,and the magnetometer 1220 is coupled to the bridge component 1410. Thebridge component can be configured to bias the at least one of themagnet 1210 and the magnetometer 1220 away from the other one of themagnet 1210 and the magnetometer 1220 when the magnet 1210 and themagnetometer 1220 are in a relaxed state or reference position.

In an example, the bridge component 1410 is rigid or semi-rigid, such asmade of an inflexible polymer or thin metal or ceramic. The bridgecomponent can be configured to receive a foot displacement force from afoot from an arch region or other region of the foot and, in response,to correspondingly displace one of the magnet 1210 and the magnetometer1220 (e.g., disposed on or coupled to the bridge component 1410)relative to its reference position.

FIGS. 15A-15C illustrate test data associated with magnet-based footpresence sensor configurations with a magnet pole oriented along anx-axis. FIGS. 15D-15F illustrate test data associated with magnet-basedfoot presence sensor configurations with a magnet pole oriented along ay-axis. FIGS. 15G-15I illustrate test data associated with magnet-basedfoot presence sensor configurations with a magnet pole oriented along az-axis.

FIGS. 16A-16B illustrate magnetic field strength test data for arectangular magnet. FIGS. 16C-16F illustrate magnetic field strengthtest data for a first circular magnet.

FIGS. 17A-17D illustrate magnetic field strength test data for a firstcircular magnet.

FIGS. 15A-17D illustrate various test data associated with magnets andmagnetometers. In the examples of FIG. 15A-15I, field strength can beerratic or inconsistent along a Z axis of the magnetometer. Generally,as a magnet travels along X or Y axes, magnetic field strength drops offquickly, such as around 50 mm laterally away from the magnetometer. Whentraveling along X and Y directions, the Z component typically peaks andthen drops off.

FIGS. 16A-16F illustrate field strength test data corresponding todifferent magnet types and different lateral offset locations relativeto the magnetometer.

Based on the examples of FIGS. 15A-17D, it can be seen that severalpositions can provide acceptable signal to noise ratios (SNR) for eachmagnet type. A minimum deflection of about 0.5 mm is generally used toachieve a good SNR. Placement of a magnet directly over the magnetometercan be less optimal than other magnet placement locations. In anexample, there is potential for multi-duty use of the magnetometer suchas by placing magnets to maximize signal on one or two axes and not onothers. Such an arrangement could enable an index pulse for spooling, orother functionality.

Various different magnet types and shapes can be used. For example, aneodymium magnet can be used. The magnet can be rectangular, circular,toroidal, small (e.g., about 0.1″ diameter by about 0.04″ thick), orlarge (e.g., about 0.25″ diameter by about 0.06″ thick).

The present inventors have recognized that, to optimize performance ofthe magnetometer in the context of footwear with a small magnet travelor deflection distance, the magnet should be offset from a Z axisassociated with the magnetometer, that is, spaced laterally or sidewaysfrom a vertical or Z axis of the magnetometer.

In an example, a footwear article can include or use a capacitive footpresence sensor. A capacitive foot presence sensor can include a surfacetype sensor or a projective type sensor. A surface type sensor usescapacitive sensors at the corners of a thin film that can be distributedacross a sensor surface. In this example, the capacitive sensor surfacecan include an inside surface of the footwear article, such as on aninsole, tongue, footwear article wall, or elsewhere. A projective typesensor can use a grid of conductive elements arranged in rows andcolumns. In both types, when a body part or foot is located at orproximal to the film and/or conductive elements, an electrical chargecan be transferred to the foot to complete a circuit, thereby creating avoltage change.

FIG. 18 illustrates generally an example of a capacitive sensor 1500.The capacitive sensor 1500 can include multiple capacitive plates, suchas can be arranged on the housing structure 100, for example, to bepositioned at or near an underside of a foot when the footwear articleincluding the capacitive sensor 1500 is worn.

The foot presence sensor 1500 can include a plurality of capacitorplates. In the example of FIG. 18, four capacitor plates are identifiedas 1501-1504. The capacitor plates can be made of a conductive materialsuch as a conductive foil. The foil can be flexible and can optionallybe embedded into a plastic of the housing structure 100. It is to beappreciated that any conductive material could be used, such as films,inks, etc.

A capacitance value of a capacitor is functionally related to adielectric constant of a material between two plates that form acapacitor. Within the sensor 1500, a capacitor can be formed betweeneach pair of two or more of the capacitor plates 1501-1504. Accordingly,there are six effective capacitors formed by the six unique combinationpairs of the capacitor plates 1501-1504. Optionally, two or more of theplates can be electrically coupled to form a single plate. That is,first and second capacitor plates 1501 and 1502 can optionally beelectrically coupled and used as half of a capacitor with the third andfourth capacitor plates 1503 and 1504 electrically coupled to form theother half.

A capacitive effect between the first and second capacitor plates 1501and 1502 is represented in FIG. 18 by a phantom capacitor identified byletter A. The capacitive effect between the first and third capacitorplates 1501 and 1503 is represented by the phantom capacitor identifiedby letter B. The capacitive effect between the second and fourthcapacitor plates 1502 and 1504 is represented by the phantom capacitoridentified by letter C. The capacitive effect between the third andfourth capacitor plates 1503 and 1504 is represented by the phantomcapacitor identified by letter D. The capacitive effect between thesecond and third capacitor plates 1502 and 1503 is represented by thephantom capacitor identified by letter E. The capacitive effect betweenthe first and fourth capacitor plates 1501 and 1504 is represented bythe phantom capacitor identified by letter F. A person of ordinary skillin the art will appreciate that each phantom capacitor is representativeof an electrostatic field extending between the respective pair ofcapacitor plates. Hereinafter, for the purpose of easy identification,the capacitor formed by each pair of capacitive plates is referred to bythe same letter (e.g., “A”, “B”, etc.) used in FIG. 18 to identify thephantom-drawn capacitors.

For each pair of capacitor plates in the example of FIG. 18, aneffective dielectric between the plates includes an airgap (or othermaterial) between the plates. Also, for each pair of capacitor plates,any portion of a foot that is proximal to the respective pair ofcapacitive plates becomes part of the effective dielectric for the givenpair of capacitive plates. A dielectric constant between each pair ofcapacitor plates can be related to a proximity of a foot to therespective pair of plates. For example, the closer a foot is to a givenpair of plates, the greater the value of the effective dielectric. Asthe dielectric constant value increases, the capacitance valueincreases.

The foot presence sensor can include a plurality of capacitive sensordrive/monitor circuits. A drive/monitor circuit can be associated witheach pair of capacitor plates in the example of FIG. 18. In an example,drive/monitor circuits can provide drive signals (e.g., electricalexcitation) to the capacitor plate pairs and, in response, can receivecapacitance-indicating values. Each drive/monitor circuit can beconfigured to measure a variable capacitance value of an associatedcapacitor (e.g., the capacitor “A” corresponding to the first and secondplates 1501 and 1502), and can be further configured to provide a signalindicative of the measured capacitance value. The drive/monitor circuitscan have any suitable structure for measuring the capacitance.

In an example, capacitance values measured by the drive/monitor circuitscan be provided to a controller or processor circuit (see, e.g., theprocessor circuit of FIG. 10A). An operation of the controller includesproviding a lace mechanism actuator. The operation can optionally beperformed by discrete, “hard-wired” components, can be performed by aprocessor executing software, or can be performed be a combination ofhard-wired components and software. In an example, the lace mechanismactuation function includes (1) monitoring signals from thedrive/monitor circuits, (2) determining which, if any, of the signalsindicate a capacitance value in excess of a specified threshold value(e.g., stored in the processor circuit and/or in a memory circuit indata communication with the processor circuit), (3) make acharacterization of the location, size, etc. of the foot that is locatedproximal to the sensor matrix based upon, e.g., a number of thresholdvalues that are exceeded, and (4) permit, alter or suppress actuation ofthe lace driving mechanism depending upon the characterization.

FIG. 19 illustrates generally an example 1600 of a capacitive electrodeconfiguration. The example includes first and second electrodes 1601 and1602 arranged along a substantially planar surface, such as in a combconfiguration. The processor circuit (see FIG. 8A) can be configured togenerate a stimulus signal to apply to the first and second electrodes1601 and 1602 and to sense a response signal indicative of a change incapacitance between the electrodes. The capacitance can be influenced bythe presence of a body or foot relative to the electrodes. For example,the first and second electrodes 1601 and 1602 can be arranged on or neara surface of the housing structure 100, such as proximal to a foot.

In an example, a foot presence sensor includes an etched conductivelayer, such as in an X-Y grid to form a pattern of electrodes, or byetching multiple separate, parallel layers of conductive material, forexample with perpendicular lines or tracks to form the grid. In this andother capacitive sensors, no direct contact between a body or foot and aconductive layer is needed. The conductive layer can optionally beembedded in the housing structure 100, or can be coated with aprotective or insulating layer.

In an example, a capacitive foot sensor is configured to sense or useinformation about a mutual capacitance among multiple electrodes orplates. Mutual capacitive sensors can include a capacitor at eachintersection of each row and each column of an electrode grid.Optionally, the electrode grid is arranged in a single row or column. Inan example, a voltage signal can be applied to the rows or columns, anda body or foot near the surface of the sensor changes a local electricfield that, in turn, can reduce the mutual capacitance. A capacitancechange at every individual point on the grid can be measured todetermine a body location, such as by measuring a voltage in each axis.In an example, mutual capacitance measuring techniques can provideinformation from multiple locations around the grid at the same time.

In an example, a mutual capacitance measurement uses an orthogonal gridof transmit and receive electrodes. In a mutual capacitance sensorsystem, each detection can be detected as a discrete X-Y coordinatepair. In an example, information from multiple measurements of acapacitive sensor can be used to determine foot presence. In an example,rate of change information about X and/or Y detection coordinates can beused.

In an example, a self-capacitance based foot presence sensor can havethe same X-Y grid as a mutual capacitance sensor, but the columns androws can operate independently. In a self-capacitance sensor, capacitiveloading of a body at each column or row can be detected independently.

In an example, capacitive sensors can optionally have electrodes orplates that have a relatively large surface area, and can sense changesin capacitance over a correspondingly large area.

In an example, a foot presence sensor that is capacitor-based can have abaseline or reference capacitance value. The reference capacitance valuecan be a function of an electrode surface area, or of an electrodeplacement relative to other footwear components, or of an orientation orenvironment of the sensor or footwear itself. That is, a sensor can havesome associated capacitance value even without a foot present in thefootwear, and that value can be a function of a dielectric effect of oneor more materials or environmental factors at or near the sensor. In anexample, an orthotic insert (e.g., insole) in footwear can change adielectric characteristic of a capacitive sensor. However, the processorcircuit can optionally be configured to calibrate or self-calibrate thecapacitive sensor when a baseline or reference characteristic changes,such as when an insole is changed.

The present inventors performed a variety of tests to evaluate an effectof various orthotic inserts on capacitive foot sensing techniques. Fulland partial length orthotic insoles were tested. The addition of aregular (partial length) orthotic to the footwear increased an overalldielectric and decreased an electric field sensitivity to the presenceof the foot. The signal amplitude also decreased in the presence of theorthotic. The RMS amplitude of the noise was similar with or without theorthotic. The response under loading and unloading conditions was alsosimilar.

Based on results of the orthotics tests, utilizing capacitive sensingfor detection of foot presence with regular or full-length orthotics isfeasible with respect to signal to noise resolution. With a regular andfull length orthotic, under both light and high duty loading conditions,a SNR exceeding a minimum of 6 dB required to resolve foot presence wasmeasured. The auto-calibration of the sensor has adequate offset rangeto compensate for added dielectric effects of the orthotics.

In the case of the full-length orthotic, the test procedure includedremoving the production insole, and the orthotic itself was used as theonly. The dielectric was nearly equivalent resulting in similar SNR inthe compressed state to the no-orthotic case.

Air gaps between the full-length orthotic and the sensing electroderesulted in a measurable variation in SNR as a function of an appliedload. Various foot zones behaved similarly under low loading conditions,showing no permanent deformation of the gap distance under the orthotic.Under high loading conditions, such as exerted by standing, can beenough to compress the orthotic arch against the sensor and eliminate agap. The resulting resultant electric field can be similar in magnitudeto the use of the production insole (no orthotic). In an example, thisvariation can be compensated for, such as by using a gap-filling foam atthe underside of the full-length orthotic.

FIG. 20A illustrates generally an example of a capacitive foot presencesensor. The capacitive foot presence sensor can include a capacitivesensing electrode 1721 coupled to a capacitive sensing controllercircuit 1722. The electrode 1721 and/or the controller circuit 1722 canoptionally be included in or mounted to the housing structure 100.

In an example, the controller circuit 1722 includes an AtmelATSAML21E18B-MU, ST Microelectronics STM32L476M, or other similardevice. As discussed herein, the electrode 1721 can optionally beincluded in a recess above the housing structure, or as part of the foaminsole 1201, or elsewhere.

In the example of FIG. 20A, an electric field can project from a topside of the electrode 1721. In an example, an electric field below theelectrode can be blocked by placing a driven shield below the sensingelectrode (see FIG. 20B). The driven shield and sensing electrode 1721can be electrically insulated from each other. If the sensing electrode1721 is on one surface of the PCB or FPC then the driven shield can beon the bottom layer of the PCB or any of the lower inner layers on amulti-layer PCB or FPC. In an example, the driven shield can be of equalor greater surface area of the sensing electrode 1721 and centereddirectly below the sensing electrode 1721. The shield can be driven tocreate an electric field of the same polarity, phase and/or amplitude ofan x axis leg of the sensing electrode 1721. The shield's field canrepel the electric field of the sensing electrode 1721, therebyisolating it from undesired coupling effects, such as to a lower groundplane of the main PCA.

One advantage of using capacitive sensing techniques for detecting footpresence includes that a capacitive sensor can function well even when acapacitive sensor is placed in an arch region and a user has higharches. For example, a preferred integration of a foot presence sensorcan include inside of the housing structure 100 such as to protect itfrom perspiration and dirt. Minimizing or eliminating connectionsthrough the housing increases reliability. As described above, a goodposition in which to locate the housing is in an arch area because it isthe least likely to be felt or to cause discomfort to a wearer.

In an example, sensing electrode 1721 can be configured to sense adifference in signal between multiple electrodes, such as between X andY electrodes. In an example, a suitable sampling frequency can bebetween about 2 and 50 Hz. Capacitive sensing techniques can also berelatively invariant to perspiration (wetness) on the insole or in asock around a foot. The effect of such moisture can be to reduce adynamic range of the detection since the presence of moisture canincrease a measured capacitance. However, in some examples, the dynamicrange is sufficient to accommodate this effect within expected levels ofmoisture.

FIG. 20C illustrates generally top (left) and perspective views (right)of a sensing electrode 1725. In this example, the sensing electrode canbe configured to be disposed inside of the housing structure 100, suchas at or near (e.g., pressed or mounted against or adjacent to) a topinner wall of the housing structure 100. In an example, the sensingelectrode 1725 includes a flexible substrate.

Various tests were performed by the present inventors to validate footpresence sensing using capacitive sensing techniques. In an example,capacitive sensing for detection of foot presence is feasible withrespect to signal to noise resolution. With a 99.9% confidence, an SNRof 22 dB can be measured. In one series of tests, 16 subjects were used,including 4 female and 12 male. The distribution of foot size was anormal distribution with a range from 5.5 to 12.5. Arch height asself-reported among low, medium, and high, was normally distributed.With an R value of 0.039 there was no correlation between the quality ofthe signal and the size of the subject's foot.

In an example, a foot presence sensor includes a first pressure sensor.The first pressure sensor can be embedded in the outsole 60, in afootwear side or top component, or elsewhere in the footwear. The firstpressure sensor can be configured to sense a change in mass, such aswhen a user places weight on to the sensor. In an example, the firstpressure sensor can include a force-sensitive resistor.

FIG. 21A illustrates generally an example is a block diagramillustrating footwear components that can include a pressure-based footpresence sensor. The example in FIG. 21A includes a pressure sensorenclosure 2100. The pressure sensor enclosure 2100 can be asubstantially airtight or liquid-tight enclosure having a measurementmembrane disposed therein. The measurement membrane can move or respondto changes in a distribution of a gas or fluid in the enclosure 2100. Asshown, the pressure sensor enclosure 2100 can be positioned underfootand can be configured to receive a physical foot impact when thefootwear is worn. In an example, the pressure sensor enclosure 2100shares a wall with, or is adjacent to a wall of, the housing structure100. In response to impact from a foot, at least one wall of theenclosure 2100 can move slightly, thereby changing a distribution of gasor fluid in the enclosure. Information from the sensor or membrane aboutthe change in gas or fluid distribution can be received by a processorcircuit (e.g., the processor circuit 1020 of FIG. 10A) and used toidentify foot presence or foot activity information.

FIG. 21B illustrates generally an example of the lacing engine 10 fromFIG. 2B with a second pressure sensor 1820. The second pressure sensor1820 can be embedded inside of the housing structure 100 of the lacingengine 10. The lacing engine 10 can be substantially vapor sealed orhermetically sealed. That is, the lacing engine 10 can be asubstantially closed structure that includes at least a portion that isairtight. In an example, the second pressure sensor 1820 can be embeddedin a hermetic chamber 1810, and the hermetic chamber 1810 can beincluded inside of the housing structure 100. The hermetic chamber 1810can include a wall or walls that are in contact with or shared by thehousing structure 100.

In an example, the second pressure sensor 1820 includes a membrane thatis embedded in the hermetic chamber 1810. When subjected to force, suchas when a user applies weight to the footwear article when standing orwalking, one or more sides of the hermetic chamber 1810 can deflect orbend, thus changing a distribution of gas inside of the hermetic chamber1810. The membrane of the second pressure sensor 1820 can move inresponse to such a gas distribution change and can generate a sensorsignal indicative of the membrane movement. The sensor signal from thesecond pressure sensor 1820 can thus indicate that a foot is presentwhen membrane movement is detected.

In an example, information from a foot presence sensor or magnetometercan be used as a pedometer. For example, changes in a time-varyingmagnetic field signal from the magnetometer 1220 can indicate that afootwear article is in motion. Optionally, the information from themagnetometer can be used or processed together with other sensorinformation, such as with accelerometer or temperature information, tohelp determine when a step event occurs. The processor circuit (see,e.g., the processor circuit 1020 of FIG. 10A) can be used to receive themagnetometer signal and, in response, determine information about anumber of steps taken by the wearer. Further to its use as a pedometer,information from a magnetometer can be used to determine a rate ortravel.

In an example, a magnetometer can be configured to monitor aphysiological characteristic of a wearer. For example, the sensor canprovide information about a foot expansion or contractioncharacteristic, a pulsatile characteristic detected from pressurechanges of a foot itself, or other physiologic information.

In an example, a magnetometer can provide information about displacementor force. When sensor information includes displacement information,information about a foot strike can be obtained. Foot strike informationcan include information about a force or impact of a foot in footwear.For example, the foot strike information can be used to determinewhether a wearer is walking (low impact, low force), running (mediumimpact, medium force), or jumping (high impact, high force).

Throughout this specification, plural instances may implementcomponents, operations, or structures described as a single instance.Although individual operations of one or more methods are illustratedand described as separate operations, one or more of the individualoperations may be performed concurrently, and nothing requires that theoperations be performed in the order illustrated. Structures andfunctionality presented as separate components in example configurationsmay be implemented as a combined structure or component. Similarly,structures and functionality presented as a single component may beimplemented as separate components. These and other variations,modifications, additions, and improvements fall within the scope of thesubject matter herein.

Although an overview of the inventive subject matter has been describedwith reference to specific example embodiments, various modificationsand changes may be made to these embodiments without departing from thebroader scope of embodiments of the present disclosure. Such embodimentsof the inventive subject matter may be referred to herein, individuallyor collectively, by the term “invention” merely for convenience andwithout intending to voluntarily limit the scope of this application toany single disclosure or inventive concept if more than one is, in fact,disclosed.

The embodiments illustrated herein are described in sufficient detail toenable those skilled in the art to practice the teachings disclosed.Other embodiments may be used and derived therefrom, such thatstructural and logical substitutions and changes may be made withoutdeparting from the scope of this disclosure. The disclosure, therefore,is not to be taken in a limiting sense, and the scope of variousembodiments includes the full range of equivalents to which thedisclosed subject matter is entitled.

The following Aspects provide a non-limiting overview of the footwearand foot presence or position sensing systems and methods discussedherein.

Aspect 1 can include or use subject matter (such as an apparatus, asystem, a device, a method, a means for performing acts, or a devicereadable medium including instructions that, when performed by thedevice, can cause the device to perform acts), such as can include oruse an article of footwear comprising a ferromagnetic body disposed inthe article, and a magnetometer configured to measure a strength ordirection of a magnetic field that is influenced by a position of theferromagnetic body. In Aspect 1, one of the ferromagnetic body and themagnetometer can be configured to move relative to the other one of theferromagnetic body and the magnetometer according to movement of a footin the article or according to movement of the article itself.

Aspect 2 can include or use, or can optionally be combined with thesubject matter of Aspect 1, to optionally include or use a processorcircuit, wherein the magnetometer is configured to generate amagnetometer signal that indicates the position of the ferromagneticbody, and wherein the processor circuit is configured to receive themagnetometer signal from the magnetometer.

Aspect 3 can include or use, or can optionally be combined with thesubject matter of Aspect 2, to optionally include, when the magnetometersignal indicates a specified change in the position of the ferromagneticbody, the processor circuit is configured to initiate data collectionfrom one or more other sensors in or associated with the article offootwear.

Aspect 4 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 2 or 3 to optionallyinclude, when the magnetometer signal indicates a specified change inthe position of the ferromagnetic body, the processor circuit isconfigured to actuate a drive mechanism to tighten or loosen the articleof footwear about the foot.

Aspect 5 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 2 through 4 tooptionally include the magnetometer is configured to generate atime-varying magnetometer signal that indicates the position of theferromagnetic body while the article is worn and moved by a foot, andwherein the processor circuit is configured to determine a foot impactcharacteristic based on the time-varying magnetometer signal.

Aspect 6 can include or use, or can optionally be combined with thesubject matter of Aspect 5, to optionally include or use the processorcircuit is configured to determine a foot impact force characteristic orstep timing characteristic based on the time-varying magnetometersignal.

Aspect 7 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 5 or 6 to optionallyinclude the processor circuit is configured to determine the foot impactcharacteristic for a single step event.

Aspect 8 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 5 through 7 tooptionally include the processor circuit is configured to determine arate of change of the time-varying magnetometer signal and, based on thedetermined rate of change, characterize a step force or a stepfrequency.

Aspect 9 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 1 through 8 tooptionally include the magnetometer configured to generate amagnetometer signal that includes information about a change in themagnetic field when the article is worn and at least one of theferromagnetic body and the magnetometer is moved relative to the otherby a foot.

Aspect 10 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 1 through 9 tooptionally include or use the magnetometer configured to senseinformation about a change in an ambient magnetic field in response toan influence of the foot itself on the ambient magnetic field.

Aspect 11 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 1 through 10 tooptionally include the ferromagnetic body or the magnetometer isconfigured to move relative to the other of the ferromagnetic body orthe magnetometer when the article is worn or moved.

Aspect 12 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 1 through 11 tooptionally include or use multiple ferromagnetic bodies disposed in thearticle and spaced apart from the magnetometer, and wherein at least oneof the multiple bodies is configured to move relative to themagnetometer when the article is worn or moved.

Aspect 13 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 1 through 12 tooptionally include or use the magnetometer being a three-axismagnetometer that is configured to provide information about a change inthe magnetic field in at least x, y, and z dimensions.

Aspect 14 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 1 through 13 tooptionally include or use the ferromagnetic body being embedded in acompressible material that is configured to be worn underfoot in thearticle of footwear.

Aspect 15 can include or use, or can optionally be combined with thesubject matter of Aspect 14, to optionally include or use themagnetometer being configured to be disposed underfoot and in an archregion of the article.

Aspect 16 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 14 or 15 tooptionally include or use the magnetometer being configured to bedisposed underfoot and in a heel or toe region of the article.

Aspect 17 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 1 through 16 tooptionally include or use a bridge component, wherein at least one ofthe ferromagnetic body and the magnetometer is coupled to the bridgecomponent, and wherein the bridge component biases the at least one ofthe ferromagnetic body and the magnetometer away from the other one ofthe ferromagnetic body and the magnetometer when the ferromagnetic bodyand the magnetometer are in a relaxed state or reference position.

Aspect 18 can include or use, or can optionally be combined with thesubject matter of Aspect 17, to optionally include or use a springcoupled to the bridge component, wherein the spring biases the bridgecomponent to a first location.

Aspect 19 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 17 or 18 tooptionally include or use the bridge component being rigid orsemi-rigid, and wherein the bridge component is configured to receive afoot arch displacement force and, in response, to correspondinglydisplace one of the ferromagnetic body and the magnetometer relative toits reference position.

Aspect 20 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 17 or 18 tooptionally include or use the bridge component being rigid orsemi-rigid, and wherein the bridge component is configured to receive afoot displacement force from a foot from other than a central archregion of the foot and, in response, to correspondingly displace one ofthe ferromagnetic body and the magnetometer relative to its referenceposition.

Aspect 21 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 1 through 20 tooptionally include or use the ferromagnetic body being laterally offsetfrom a first axis of the magnetometer.

Aspect 22 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 1 through 21 tooptionally include or use the ferromagnetic body having one of a circle,rectangle, or toroid shape.

Aspect 23 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 1 through 22 tooptionally include or use a lacing mechanism disposed in an arch regionof the article of footwear, and wherein the lacing mechanism is actuatedbased on information from the magnetometer about the position of theferromagnetic body.

Aspect 24 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 1 through 23 tooptionally include or use a processor circuit configured to determine astrike force of a step using the measured strength or direction of themagnetic field.

Aspect 25 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 1 through 24 tooptionally include or use a processor circuit configured to determine astep interval or a step count from the measured strength or direction ofthe magnetic field.

Aspect 26 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 1 through 25 tooptionally include or use a processor circuit configured to determine,from the measured strength or direction of the magnetic field, a shearstress or a shear displacement of the foot relative to the article offootwear.

Aspect 27 can include or use subject matter (such as an apparatus, asystem, a device, a method, a means for performing acts, or a devicereadable medium including instructions that, when performed by thedevice, can cause the device to perform acts), such as can include oruse an article of footwear with an automatic lacing system, the articlecomprising a mid-sole including a cavity, a motor disposed in thecavity, an insole disposed over the mid-sole, a plurality of strapsconfigured to adjust a tightness or looseness characteristic of thearticle about a foot when the article is worn, wherein the plurality ofstraps are configured to move between tightened and loosened positionsin response to activity of the motor, a ferromagnetic body disposed inthe article, and at least one sensor configured to sense a locationchange of the ferromagnetic body in response to compression of theinsole by a foot when the article is worn. In Aspect 27, the motor iscoupled to the sensor (e.g., by way of a processor circuit) and themotor is configured to respond to a sensed change in the location of theferromagnetic body by adjusting a tension of the straps.

Aspect 28 can include or use, or can optionally be combined with thesubject matter of Aspect 27, to optionally include or use the at leastone sensor includes a magnetometer configured to sense a change in amagnetic field, the change due at least in part to the location changeof the ferromagnetic body, and wherein one of the ferromagnetic body andthe magnetometer is substantially fixed relative to a housing or wall ofthe article, and wherein the other one of the ferromagnetic body and themagnetometer is movable with respect to the housing or wall of thearticle.

Aspect 29 can include or use, or can optionally be combined with thesubject matter of Aspect 28, to optionally include the insole iscompressible by a foot, and the ferromagnetic body is coupled to theinsole and moves according to compression of the insole by the foot.

Aspect 30 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 27 through 29 tooptionally include or use a processor circuit coupled to the at leastone sensor, and wherein the processor circuit is configured to determinerate of change information about the sensed location change of theferromagnetic body.

Aspect 31 can include or use subject matter (such as an apparatus, asystem, a device, a method, a means for performing acts, or a devicereadable medium including instructions that, when performed by thedevice, can cause the device to perform acts), such as can include oruse a magnetic foot position sensor (FPS) for use in an article offootwear, the FPS comprising a bridge configured to be worn below ornear an arch of a foot, wherein the bridge is configured to move invertical or lateral directions in response to pressure applied to thebridge from the foot, and a first magnetic body coupled to the bridge,and a magnetometer spaced apart from the first magnetic body andconfigured to provide a signal indicative of displacement of the firstmagnetic body relative to the magnetometer when the article is worn andthe bridge is moved according to movement of a foot.

Aspect 32 can include or use, or can optionally be combined with thesubject matter of Aspect 31, to optionally include or use themagnetometer being a multiple-axis magnetometer that is configured toprovide a signal indicative of displacement of the first magnetic bodyalong one or more of the multiple axes.

Aspect 33 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 31 or 32 tooptionally include or use the magnetometer being configured to providethe signal indicative of displacement of the first magnet in response toa vertical or lateral displacement of the first magnetic body relativeto the magnetometer.

Aspect 34 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 31 through 33 tooptionally include or use a second magnetic body, wherein themagnetometer is spaced apart from the second magnetic body and isconfigured to provide a signal indicative of displacement of either orboth of the first and second magnetic bodies relative to themagnetometer.

Aspect 35 can include or use, or can optionally be combined with thesubject matter of one or any combination of Aspects 31 through 34 tooptionally include or use a spring mechanism that biases the bridge andthe first magnetic body away from the magnetometer.

Each of these non-limiting Aspects can stand on its own, or can becombined in various permutations or combinations with one or more of theother Aspects and examples discussed herein.

As used herein, the term “or” may be construed in either an inclusive orexclusive sense. Moreover, plural instances may be provided forresources, operations, or structures described herein as a singleinstance. Additionally, boundaries between various resources,operations, modules, engines, and data stores are somewhat arbitrary,and particular operations are illustrated in a context of specificillustrative configurations. Other allocations of functionality areenvisioned and may fall within a scope of various embodiments of thepresent disclosure. In general, structures and functionality presentedas separate resources in the example configurations may be implementedas a combined structure or resource. Similarly, structures andfunctionality presented as a single resource may be implemented asseparate resources. These and other variations, modifications,additions, and improvements fall within a scope of embodiments of thepresent disclosure as represented by the appended claims. Thespecification and drawings are, accordingly, to be regarded in anillustrative rather than a restrictive sense.

The above detailed description includes references to the accompanyingdrawings, which form a part of the detailed description. The drawingsshow, by way of illustration, specific embodiments in which theinvention can be practiced. These embodiments are also referred toherein as “examples.” Such examples can include elements in addition tothose shown or described. However, the present inventors alsocontemplate examples in which only those elements shown or described areprovided. Moreover, the present inventors also contemplate examplesusing any combination or permutation of those elements shown ordescribed (or one or more aspects thereof), either with respect to aparticular example (or one or more aspects thereof), or with respect toother examples (or one or more aspects thereof) shown or describedherein.

In the event of inconsistent usages between this document and anydocuments so incorporated by reference, the usage in this documentcontrols.

In this document, the terms “a” or “an” are used, as is common in patentdocuments, to include one or more than one, independent of any otherinstances or usages of “at least one” or “one or more.” In thisdocument, the term “or” is used to refer to a nonexclusive or, such that“A or B” includes “A but not B,” “B but not A,” and “A and B,” unlessotherwise indicated. In this document, the terms “including” and “inwhich” are used as the plain-English equivalents of the respective terms“comprising” and “wherein.” Also, in the following claims, the terms“including” and “comprising” are open-ended, that is, a system, device,article, composition, formulation, or process that includes elements inaddition to those listed after such a term in a claim are still deemedto fall within the scope of that claim. Moreover, in the followingclaims, the terms “first,” “second,” and “third,” etc. are used merelyas labels, and are not intended to impose numerical requirements ontheir objects.

Method examples described herein, such as the motor control examples,can be machine or computer-implemented at least in part. Some examplescan include a computer-readable medium or machine-readable mediumencoded with instructions operable to configure an electronic device toperform methods as described in the above examples. An implementation ofsuch methods can include code, such as microcode, assembly languagecode, a higher-level language code, or the like. Such code can includecomputer readable instructions for performing various methods. The codemay form portions of computer program products. Further, in an example,the code can be tangibly stored on one or more volatile, non-transitory,or non-volatile tangible computer-readable media, such as duringexecution or at other times. Examples of these tangiblecomputer-readable media can include, but are not limited to, hard disks,removable magnetic disks, removable optical disks (e.g., compact disksand digital video disks), magnetic cassettes, memory cards or sticks,random access memories (RAMs), read only memories (ROMs), and the like.

The above description is intended to be illustrative, and notrestrictive. For example, the above-described examples (or one or moreaspects thereof) may be used in combination with each other. Otherembodiments can be used, such as by one of ordinary skill in the artupon reviewing the above description. An Abstract, if provided, isincluded to comply with 37 C.F.R. § 1.72(b), to allow the reader toquickly ascertain the nature of the technical disclosure. It issubmitted with the understanding that it will not be used to interpretor limit the scope or meaning of the claims. Also, in the aboveDescription, various features may be grouped together to streamline thedisclosure. This should not be interpreted as intending that anunclaimed disclosed feature is essential to any claim. Rather, inventivesubject matter may lie in less than all features of a particulardisclosed embodiment. Thus, the following claims are hereby incorporatedinto the Detailed Description as examples or embodiments, with eachclaim standing on its own as a separate embodiment, and it iscontemplated that such embodiments can be combined with each other invarious combinations or permutations. The scope of the invention shouldbe determined with reference to the appended claims, along with the fullscope of equivalents to which such claims are entitled.

What is claimed is:
 1. An article of footwear comprising: aferromagnetic body disposed in the article of footwear; a magnetometerconfigured to provide a magnetometer signal that indicates a strength ordirection of a magnetic field measured by the magnetometer, wherein themagnetometer signal indicates a position of the ferromagnetic body; anda processor circuit configured to receive the magnetometer signal fromthe magnetometer and determine a foot impact characteristic using themagnetometer signal; wherein one of the ferromagnetic body and themagnetometer is configured to move relative to the other one of theferromagnetic body and the magnetometer according to movement of a footin the article.
 2. The article of footwear of claim 1, wherein inresponse to the magnetometer signal indicating a specified change in theposition of the ferromagnetic body, the processor circuit is configuredto initiate data collection from one or more other sensors in orassociated with the article of footwear.
 3. The article of footwear ofclaim 1, wherein in response to the magnetometer signal indicating aspecified change in the position of the ferromagnetic body, theprocessor circuit is configured to actuate a drive mechanism to tightenor loosen the article of footwear about the foot.
 4. The article offootwear of claim 3, further comprising the drive mechanism, wherein thedrive mechanism is configured to tighten or loosen the article offootwear about the foot in response to actuation instructions from theprocessor circuit.
 5. The article of footwear of claim 1, wherein themagnetometer signal comprises a time-varying signal that indicates achanging position of the ferromagnetic body while the article is wornand while the article is moved by a foot; and the processor circuit isconfigured to determine the foot impact characteristic based on a rateof change of the time-varying signal.
 6. The article of footwear ofclaim 5, wherein the processor circuit is configured to determine a footimpact force characteristic based on the time-varying signal.
 7. Thearticle of footwear of claim 5, wherein the processor circuit isconfigured to determine a step timing characteristic based on thetime-varying signal.
 8. The article of footwear of claim 5, wherein theprocessor circuit is configured to determine a step count using the footimpact characteristic as-determined.
 9. The article of footwear of claim1, further comprising multiple ferromagnetic bodies disposed in thearticle of footwear, wherein the magnetometer signal indicates a changein a position of one or more of the multiple ferromagnetic bodies, andwherein the multiple ferromagnetic bodies are spaced apart from eachother and from the magnetometer.
 10. The article of footwear of claim 1,wherein the ferromagnetic body is embedded in a compressible materialthat is configured to be worn underfoot in the article of footwear. 11.A method comprising: using a magnetometer, measuring a strength ordirection of a magnetic field generated by a ferromagnetic body that isdisposed in an article of footwear; and using a processor circuit:receiving a signal from the magnetometer indicating the strength ordirection of the magnetic field as-measured; and determining a footimpact characteristic, corresponding to movement of a foot inside of thearticle of footwear, using the signal.
 12. The method of claim 11,wherein receiving the signal from the magnetometer includes receiving atime-varying signal from the magnetometer, the time-varying signalindicating a change in the strength or direction of the magnetic fieldover time.
 13. The method of claim 12, further comprising determining arate of change of the time-varying signal as-received; whereindetermining the foot impact characteristic includes using the rate ofchange as-determined.
 14. The method of claim 13, further comprisingusing the processor circuit, determining a foot impact forcecharacteristic using the rate of change as-determined.
 15. The method ofclaim 13, further comprising using the processor circuit, determining astep timing characteristic using the rate of change as-determined. 16.The method of claim 13, further comprising using the processor circuit,determining a step count using the rate of change as-determined.
 17. Themethod of claim 13, further comprising using the processor circuit,determining a gait characteristic using the rate of changeas-determined.
 18. The method of claim 13, further comprising using theprocessor circuit, selectively actuating a lace drive mechanism based onthe rate of change as-determined.
 19. An article of footwear comprising:a ferromagnetic body disposed in the article of footwear; a magnetometerconfigured to provide a magnetometer signal that indicates a strength ordirection of a magnetic field measured by the magnetometer, wherein themagnetometer signal indicates a position of the ferromagnetic body; anautomatic lacing engine; and a processor circuit configured to receivethe magnetometer signal from the magnetometer, determine a rate ofchange of the magnetometer signal over time, and selectively actuate theautomatic lacing engine to tighten or relax the article of footwearabout a foot based on the rate of change as-determined; wherein one ofthe ferromagnetic body and the magnetometer is configured to moverelative to the other one of the ferromagnetic body and the magnetometeraccording to movement of the foot in the article.
 20. The article offootwear of claim 19, wherein the processor circuit is furtherconfigured to classify an activity type based on the rate of changeas-determined, and wherein the processor circuit is configured toactuate the automatic lacing engine based on the activity type.